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Manual tuning of calibration offset

Manual tuning of calibration offset is normally not needed, but can be useful in
some situations. The requirement to do manual tuning is that there is a known
accurate position, that worked accurately before the repair (step 5, see

introduction to Reference Calibration on page 574

).

Product manual - IRB 930

575

3HAC086009-001 Revision: A

© Copyright 2023 ABB. All rights reserved.

6 Calibration

6.4.5 Reference calibration

Continued

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Содержание IRB 930

Страница 1: ...ROBOTICS Product manual IRB 930 ...

Страница 2: ...Trace back information Workspace 23B version a11 Checked in 2023 06 20 Skribenta version 5 5 019 ...

Страница 3: ...Product manual IRB 930 12 0 85 IRB 930 12 1 05 IRB 930 22 1 05 IRC5 Document ID 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved Specifications subject to change without notice ...

Страница 4: ...ranty by ABB for losses damage to persons or property fitness for a specific purpose or the like In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein This manual and parts thereof must not be reproduced or copied without ABB s written permission Keep for future reference Additional copies of this manual may be obtaine...

Страница 5: ... commissioning 47 3 1 Introduction to installation and commissioning 48 3 2 Unpacking 48 3 2 1 Pre installation procedure 49 3 2 2 Risk of tipping stability 51 3 2 3 Transportation bracket 54 3 3 On site installation 54 3 3 1 Brief installation procedure 55 3 3 2 Test run after installation maintenance or repair 56 3 3 3 Lifting the robot 56 3 3 3 1 Lifting robot with lifting accessories 58 3 3 4 ...

Страница 6: ... harness 119 5 3 1 Replacing the process hub 129 5 3 2 Replacing the SMB unit and battery unit 136 5 3 3 Replacing the main harness 171 5 4 Base 171 5 4 1 Replacing the base 216 5 5 Inner arm 216 5 5 1 Replacing the inner arm 269 5 5 2 Replacing the axis 1 oil tank 277 5 6 Outer arm 277 5 6 1 Replacing the mechanical stopper 283 5 6 2 Replacing the pulley on the ball screw upper position 295 5 6 3...

Страница 7: ... calibration 576 6 5 Calibrating the robot 576 6 5 1 Calibration position 577 6 5 2 Calibrating axis 1 and axis 2 578 6 5 3 Calibrating axis 3 and axis 4 583 6 6 Verifying the calibration 584 6 7 Checking the synchronization position 585 7 Decommissioning 585 7 1 Introduction to decommissioning 586 7 2 Environmental information 588 7 3 Scrapping of robot 589 8 Reference information 589 8 1 Introdu...

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Страница 9: ...e foundation to making it ready for operation maintenance work repair work decommissioning work Note It is the responsibility of the integrator to conduct a risk assessment of the final application It is the responsibility of the integrator to provide safety and user guides for the robot system Who should read this manual This manual is intended for installation personnel maintenance personnel rep...

Страница 10: ...6 001 Operating manual OmniCore 3HAC066554 001 Application manual Controller software OmniCore 3HAC030421 001 Application manual CalibWare Field 3HAC066553 001 Technical reference manual Event logs for RobotWare 7 3HAC042927 001 Technical reference manual Lubrication in gearboxes 3HAC065041 001 Technical reference manual System parameters i This manual contains all safety instructions from the pro...

Страница 11: ...ation Troubleshooting Decommissioning Reference information safety standards unit conversions screw joints lists of tools Spare parts list with corresponding figures or references to separate spare parts lists References to circuit diagrams Technical reference manuals The technical reference manuals describe reference information for robotics products for example lubrication the RAPID language and...

Страница 12: ...handling of the products The manuals are aimed at those having first hand operational contact with the product that is production cell operators programmers and troubleshooters 12 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved Product documentation Continued ...

Страница 13: ...lso include specific safety information when dangerous steps are to be performed Read more in the chapter Safety on page 15 Illustrations The product is illustrated with general figures that does not take painting or protection type in consideration Likewise certain work methods or general information that is valid for several product models can be illustrated with illustrations that show a differ...

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Страница 15: ...obot when the safety devices are defective not in their intended location or in any other way not working When instructions for operation and maintenance are not followed as intended Non authorized design modifications of the robot Repairs on the robot and its spare parts carried out by in experienced or non qualified personnel Foreign objects Force majeure Spare parts and equipment ABB supplies o...

Страница 16: ...nfluence of alcohol drugs or any other intoxicating substances are not allowed to install maintain service repair or use the robot The plant liable must make sure that the personnel is trained on the robot and on responding to emergency or abnormal situations Personal protective equipment Use personal protective equipment as stated in the instructions 16 Product manual IRB 930 3HAC086009 001 Revis...

Страница 17: ...ided will result in ser ious injury DANGER Signal word used to indicate a potentially hazardous situation which if not avoided could result in serious injury WARNING Signal word used to indicate a potentially hazardous situation related to electrical hazards which if not avoided could result in serious injury ELECTRICAL SHOCK Signal word used to indicate a potentially hazardous situation which if ...

Страница 18: ...used to indicate where to find additional information or how to do an operation in an easier way TIP 18 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 2 1 Safety signals in the manual Continued ...

Страница 19: ...escription Symbol Warning xx0900000812 Warns that an accident may occur if the instructions are not followed that can lead to serious injury possibly fatal and or great damage to the product It applies to warnings that apply to danger with for example contact with high voltage electrical units explosion or fire risk risk of poisonous gases risk of crushing impact fall from height etc Caution xx090...

Страница 20: ...0000815 Disassembling this part can cause injury Extended rotation xx0900000814 This axis has extended rotation working area compared to standard Brake release xx0900000808 Pressing this button will release the brakes This means that the robot arm can fall down Continues on next page 20 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 2 2 Safety sy...

Страница 21: ...tip over if the bolts are not securely fastened xx1500002402 Crush xx0900000817 Risk of crush injuries Continues on next page Product manual IRB 930 21 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continued ...

Страница 22: ...31 1 06 xx1300001087 Moving robot 1 2 3 4 5 6 xx0900000819 The robot can move unexpectedly xx1000001141 1 2 3 4 xx1500002616 Continues on next page 22 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continued ...

Страница 23: ... xx1000001242 Lifting of robot xx0900000822 Oil xx0900000823 Can be used in combination with prohibition if oil is not allowed Mechanical stop xx0900000824 Continues on next page Product manual IRB 930 23 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continued ...

Страница 24: ...that this part is pressurized Usually contains additional text with the pressure level Shut off with handle xx0900000827 Use the power switch on the controller Do not step xx1400002648 Warns that stepping on these parts can cause damage to the parts 24 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 2 2 Safety symbols on manipulator labels Continu...

Страница 25: ...and emergency stops are described in the product manual for the controller For more information see Product manual OmniCore C30 Product manual OmniCore C90XT Product manual IRB 930 25 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 3 Robot stopping functions ...

Страница 26: ...le impact caused by a breaking or malfunctioning rotating tool or other device fitted to the robot The maximum TCP speed and the maximum velocity of the robot axes are detailed in the section Robot motion in the product specification for the respective manipulator Consider exposure to hazards such as slipping tripping and falling Hazards due to the working position and posture for a person working...

Страница 27: ...o protect people working with the robot system are designed and installed correctly When integrating the robot with external devices to a robot system The integrator of the robot system must ensure that emergency stop functions are interlocked in accordance with applicable standards The integrator of the robot system must ensure that safety functions are interlocked in accordance with applicable s...

Страница 28: ...rop Dump valves should be used in case of emergency Shot bolts should be used to prevent tools etc from falling due to gravity All pipes hoses and connections have to be inspected regularly for leaks and damage Damage must be repaired immediately Verify the safety functions Before the robot system is put into operation verify that the safety functions are working as intended and that any remaining...

Страница 29: ...ment of robot arm WARNING Hazards due to the use of brake release devices and or gravity beneath the manipulator shall be considered A robot may perform unexpected limited movement WARNING Manipulator movements can cause serious injuries on users and may damage equipment Product manual IRB 930 29 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 5 Safety during operation ...

Страница 30: ...ns are working as intended Hot surfaces Surfaces can be hot after running the robot and touching these may result in burns Allow the surfaces to cool down before maintenance or repair Allergic reaction Elimination Action Description Warning Make sure that protective gear like goggles and gloves are al ways worn When working with lubricants there is a risk of an allergic reac tion Allergic reaction...

Страница 31: ...viously been drained from the gearbox Specified amount de pends on drained volume Hazards related to batteries Under rated conditions the electrode materials and liquid electrolyte in the batteries are sealed and not exposed to the outside There is a hazard in case of abuse mechanical thermal electrical which leads to the activation of safety valves and or the rupture of the battery container As a...

Страница 32: ...rious injuries on users and may damage equipment Related information See also the safety information related to installation and operation 32 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 6 1 Safety during maintenance and repair Continued ...

Страница 33: ...equire using an overhead crane or similar equipment Increased injury Before releasing the brakes make sure that the weight of the manipulator does not result in additional hazards for example even more severe injuries on a trapped person DANGER When releasing the holding brakes the robot axes may move very quickly and sometimes in unexpected ways Make sure no personnel is near or beneath the robot...

Страница 34: ...ad is maximized maximum static load 2 Switch the motor to the MOTORS OFF 3 Inspect and verify that the axis maintains its position If the manipulator does not change position as the motors are switched off then the brake function is adequate Note It is recommended to run the service routine BrakeCheck as part of the regular maintenance see the operating manual for the robot controller For robots w...

Страница 35: ...ld engineers A risk assessment must be done to address both robot and robot system specific hazards WARNING Hazards due to the use of brake release devices and or gravity beneath the manipulator shall be considered A robot may perform unexpected limited movement WARNING Manipulator movements can cause serious injuries on users and may damage equipment Related information See also the safety inform...

Страница 36: ...ement of robot arm WARNING Hazards due to the use of brake release devices and or gravity beneath the manipulator shall be considered A robot may perform unexpected limited movement WARNING Manipulator movements can cause serious injuries on users and may damage equipment 36 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 1 Safety 1 8 Safety during decommiss...

Страница 37: ...en structure that is especially adapted for flexible use and can communicate extensively with external systems The IRB 930 contains the following variants IRB 930 12 0 85 IRB 930 12 1 05 IRB 930 22 1 05 Note Without any specific statement IRB 930 represents all variants under this product Product manual IRB 930 37 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 2 Manipulator descr...

Страница 38: ...able shows valid mounting positions and the installation mounting angle for the manipulator Installation angle Mounting position 0 Floor mounted Note The actual mounting angle must always be configured in the system parameters otherwise the performance and lifetime is affected For details see Technical reference manual System parameters Continues on next page 38 Product manual IRB 930 3HAC086009 0...

Страница 39: ...bot during different kinds of operation Note These forces and torques are extreme values that are rarely encountered during operation The values also never reach their maximum at the same time WARNING The robot installation is restricted to the mounting options given in following load table s Continues on next page Product manual IRB 930 39 3HAC086009 001 Revision A Copyright 2023 ABB All rights r...

Страница 40: ...wer reson ance frequency than recommended Minimum resonance frequency Due to foundation stiffness consider robot mass including equipment i For information about compensating for foundation flexibility see the description of Motion Process Mode in the manual that de scribes the controller software option see References on page 10 150 MPa Minimum foundation material yield strength i The minimum res...

Страница 41: ... to be run with the robot Otherwise there is a risk that the robot stops or run with lower performance due to temperature dependent oil and grease viscosity Protection classes robot The table shows the available protection types of the robot with the corresponding protection class Protection class i Protection type IP30ii Manipulator protection type Standard i According to IEC 60529 ii The protect...

Страница 42: ...44 140 193 3 xx2300000161 1 05_0 45 1 05_0 3 0 85_0 45 0 85_0 3 Variants 560 mm 560 mm 360 mm 360 mm X 530 mm 530 mm 330 mm 330 mm Y 1 004 2 mm 854 2 mm 1 004 2 mm 854 2 mm Z 42 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 2 Manipulator description 2 3 Robot dimensions ...

Страница 43: ...the robot 145 D C B E 145 A P Axis 4 rotation center P H F G xx2300000163 1 05_0 45 1 05_0 3 0 85_0 45 0 85_0 3 Variants 450 mm 300 mm 450 mm 300 mm A Axis3 1 050 mm 850 mm B 560 mm 360 mm C Continues on next page Product manual IRB 930 43 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 2 Manipulator description 2 4 Working range ...

Страница 44: ...5 0 85_0 3 Variants 490 mm D 322 7 mm 284 1 mm E 145 F Axis1 145 G Axis2 400 H Axis4 44 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 2 Manipulator description 2 4 Working range Continued ...

Страница 45: ...0167 ABB logo A IRB 930 logo B Rating label C Calibration label D UL label E Read manual and caution F Brake release label G Extra O ring fitting label H Product manual IRB 930 45 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 2 Manipulator description 2 5 Information labels ...

Страница 46: ...estroy sensitive electronics Safe handling Use one of the following alternatives Use a wrist strap Wrist straps must be tested frequently to ensure that they are not damaged and are operating correctly Use an ESD protective floor mat The mat must be grounded through a current limiting resistor Use a dissipative table mat The mat should provide a controlled discharge of static voltages and must be ...

Страница 47: ...nstallation work is commenced all safety information must be observed There are general safety aspects that must be read through as well as more specific safety information that describes the danger and safety risks when performing the procedures Read the chapter Safety on page15 before performing any installation work Note Always connect the IRB 930 and the robot to protective earth and residual ...

Страница 48: ... lifting accessory used if required is suitable to handle the weight of the robot as specified in Weight robot on page 38 5 If the robot is not installed directly it must be stored as described in Storage condi tions robot on page 41 6 Make sure that the expected operating environment of the robot conforms to the specifications as described in Operating conditions robot on page 41 7 Before taking ...

Страница 49: ...position This figure shows the robot in its transportation position X 201 5 Y 366 8 493 8 3 5 A 854 2 Z xx2300000583 1 05_0 45 1 05_0 3 0 85_0 45 0 85_0 3 Variants 560 mm 360 mm X 862 2 mm 662 2 mm Y 124 2 mm 274 2 mm 124 2 mm 274 2 mm Z 0 Axis1 145 Axis2 150 mm 0 mm 150 mm 0 mm Axis3 Note The robot might be positioned in a different position at delivery due to actual configurations and options fo...

Страница 50: ...oved before conducting any service work How to use the transportation bracket is described further in Transportation bracket on page 51 WARNING The robot is likely to be mechanically unstable if not secured to the foundation 50 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 2 2 Risk of tipping stability Continued ...

Страница 51: ...on during shipping and transport The transportation brackets cannot be removed until the robot is secured to the foundation Note Keep the brackets every time when it s removed from the robot for further use Continues on next page Product manual IRB 930 51 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 2 3 Transportation bracket ...

Страница 52: ...xx2300000584 Continues on next page 52 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 2 3 Transportation bracket Continued ...

Страница 53: ...on bracket Note Action Remove the screws 1 Remove the bracket 2 Product manual IRB 930 53 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 2 3 Transportation bracket Continued ...

Страница 54: ...ing the ro bot on page 60 See Product manual OmniCore C30 Product manual OmniCore C90XT Connect the manipulator to the controller 4 See Product manual OmniCore C30 Product manual OmniCore C90XT Configure the safety settings 5 See Product manual OmniCore C30 Product manual OmniCore C90XT How to start and run the robot is described in the product manual for the controller 6 Install required equipmen...

Страница 55: ...rict the robot motion during service activity is removed 3 Verify that the fixture and work piece are well secured if applicable 4 Verify that all safety equipment is installed as designed for the application 5 Verify that no personnel are inside the safeguarded space 6 If maintenance or repair has been done verify the function of the part that was main tained 7 Verify the application in the opera...

Страница 56: ...ecommended C Lifting eye M8 DANGER Attempting to lift a robot in any other position than the recommended lifting position may result in the robot tipping over causing severe damage or injury Required tools and equipment Note Article number Equipment Overhead crane Length 0 6 m Lifting capacity 70 kg Roundsling 0 6 m Lifting eye M6 Lifting eye M8 Continues on next page 56 Product manual IRB 930 3HA...

Страница 57: ...g capacity for the lifting chain is specified in Required tools and equip ment on page 56 Attach the lifting roundslings to the robot 4 A B C xx2300000164 Carefully stretch the roundslings by lifting the crane slowly 5 This prevents the robot from falling down when it is unfastened Do not overstretch the round slings if the robot is fastened because there is a risk of the robot being damaged Screw...

Страница 58: ...uipped with a brake release unit Note Action Note If the robot is not connected to the controller power must be supplied to the connector R1 MP according to the section Supplying power to connector R1 MP on page 59 1 DANGER When releasing the holding brakes the robot axes may move very quickly and sometimes in unexpec ted ways Make sure no personnel is near or beneath the ro bot 2 Continues on nex...

Страница 59: ...er to enable the brake release buttons Note Action DANGER Incorrect connections such as supplying power to the wrong pin may cause all brakes to be released simultaneously and instantly 1 xx2300000169 Supply 0V on pin 12 24V on pin 11 Note Do not interchange the 24V and 0V pins If they are mixed up damage can be caused to internal electrical components 2 Use the brake releasing button as described...

Страница 60: ... on page 38 1 The hole configuration of the base is shown in the figure in Hole con figuration base on page 61 Prepare the installation site with attachment holes The foundation surface must be clean and un painted 2 3 CAUTION When the robot is put down after being lifted or transported there is a risk of it tipping if not properly secured 4 See Lifting the robot on page 56 Lift the robot 5 2 pcs ...

Страница 61: ...lustration for rear outlet cable version 190 190 100 73 4x 18 5 THRU 10 H7 0 015 0 100 73 5 5 A xx2300000165 Continues on next page Product manual IRB 930 61 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 5 Orienting and securing the robot Continued ...

Страница 62: ...cable version 3 5 44 B 140 193 3 190 190 4 x 18 5 B xx2300000166 62 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 5 Orienting and securing the robot Continued ...

Страница 63: ...stops or major damage to the robot Load diagrams permitted extra loads equipment and their positions are specified in the product specification The loads must be defined in the software Stopping time and braking distances The performance of the motor brake depends on if there are any loads attached to the robot See the product specification for the robot listed in References on page 10 Product man...

Страница 64: ..._0 3 0 85_0 45 0 85_0 3 560 mm 560 mm 360 mm 360 mm X 530 mm 530 mm 330 mm 330 mm Y Gravity for different arm loads Arm loads can be mounted on the axis 2 The center of gravity of the extra load shall be within the marked load areas The robot is supplied with holes for mounting of extra equipment See figures in Holes for mounting of extra equipment Note Maximum load on the frame must not be exceed...

Страница 65: ... shaft An end effector can be attached to the lower end of the shaft of the ball screw spline unit The dimensions for fitting the end effector is shown in the following figure Note Mounting of other equipment on the IRB 930 may damage the gearboxes Continues on next page Product manual IRB 930 65 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 ...

Страница 66: ...tting tools on the tool flange only use screws with quality 12 9 For other equipment use suitable screws and tightening torque for your application 66 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 3 7 Fitting equipment on the robot robot dimensions Continued ...

Страница 67: ... page 43 Mechanical stops on the manipulator Mechanical stops are and can be installed on the manipulator as limiting devices to ensure that the manipulator axis does not exceed the working range values set in the software parameters Note The mechanical stops are only installed as safety precaution to physically stop the robot from exceeding the working range set A collision with a mechanical stop...

Страница 68: ...0 via myABB Business Portal www abb com myABB Note Article number Spare part With bolt 3HAC081815 001 Rubber stop Used for axis 1 mechanical stop 3HAB3412 416 Hex socket head cap flange screw Replacement of the axis 1 mechanical stop For more details about replacing the axis 1 mechanical stop see Replacing the mechanical stopper on page 277 Continues on next page 68 Product manual IRB 930 3HAC0860...

Страница 69: ...ww abb com myABB Note Article number Spare part Replace if damaged 3HAC084073 001 Damper Used for axis 2 mechanical stop 3HAB3412 412 Hex socket head cap flange Replacement of the axis 2 mechanical stop For more details about replacing the axis 2 mechanical stop see Replacing the mechanical stopper on page 277 Continues on next page Product manual IRB 930 69 3HAC086009 001 Revision A Copyright 202...

Страница 70: ...IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC081787 001 Rubber bumper 3HAC081786 001 Mechanical stopper Replacement of the axis 3 mechanical stop For more details about replacing the axis 3 mechanical stop see Replacing the mechanical stopper on page 277 70 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 3 Installati...

Страница 71: ...ent fitted on the robot by the customer low voltage signals and high voltage power supply protective ground Customer cables The customer cables also handle databus communication The customer cables also include the air hose See the product manual for the controller see document number in References on page 10 The hose for compressed air is integrated with the manipu lator cable harness Air hoses R...

Страница 72: ...46 002 Signal cable shielded 7 m 3HAC067446 003 Signal cable shielded 15 m Bending radius for static floor cables The minimum bending radius is 10 times the cable diameter for static floor cables A B xx1600002016 Diameter A Diameter x10 B Customer cables CP CS cable Article number CP CS cable length 3HAC067449 001 3 m 3HAC067449 002 7 m 3HAC067449 003 15 m Customer cables Ethernet floor cable Arti...

Страница 73: ...2300000175 Value Number Description Connection Position Air hose with outer diamet er 6 mm 4 pcs 4 Max 6 bar Air A 30 V 1 5 A 12 wires Customer power signal C1 B 30 V 1 A or 1 Gbits s 8 wires Customer power signal or ethernet C2 C Connector kits optional Connector kits base R1 C1 and R1 C2 connectors on the base are parts of the CP CS cable and Ethernet floor cable respectively For details about t...

Страница 74: ...th the robot and must be well fitted to the connectors in any application requiring water and dust proofing Always remember to refit the protection covers after removing them Note If the protection covers are not refitted back with the connectors exposed the protection class will be lost D C C B A xx2300000176 Protection covers for air hose connector on the base A Protection covers for air hose co...

Страница 75: ...tection cover for C1 connector on the base D Product manual IRB 930 75 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 3 Installation and commissioning 3 5 2 Customer connections Continued ...

Страница 76: ...be regulated with the RAPID instruction VelSet Start the robot with its normal program but with reduced speed 1 Adjusting the speed and acceleration during warm up Depending on how cold the environment is and what program is being used the speed might need to be ramped up until reached maximum The table shows examples of how to adjust the speed Speed velocity AccSet Work cycles v100 100 mm s 20 20...

Страница 77: ...rict the robot motion during service activity is removed 3 Verify that the fixture and work piece are well secured if applicable 4 Verify that all safety equipment is installed as designed for the application 5 Verify that no personnel are inside the safeguarded space 6 If maintenance or repair has been done verify the function of the part that was main tained 7 Verify the application in the opera...

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Страница 79: ...rk There are general safety aspects that must be read through as well as more specific safety information that describes the danger and safety risks when performing the procedures Read the chapter Safety on page 15 before performing any service work The maintenance must be done by qualified personnel in accordance with the safety requirements set forth in the applicable national and regional stand...

Страница 80: ...ailable for estimating the service interval remaining lifetime of the gearboxes of a robot Such information of the ball screw spline unit of the IRB 930 is reported as axis 3 in the SIS system When a service message is reported for axis 3 of the IRB 930 an inspection on the ball screw spline unit is required For more information about the SIS function see Operating manual Service Information Syste...

Страница 81: ... running means more frequent maintenance activities SIS specified by the robot s SIS Service Information System A typical value is given for a typical work cycle but the value will differ depending on how hard each part is run The SIS used in OmniCore is further described in the Operating manual OmniCore Robots with the functionality Service Information System activated can show active counters in...

Страница 82: ...ing the robot harness Inspecting the information labels on page 85 x Inspecting the information labels Inspecting the ball screw spline unit on page 87 x Inspecting the ball screw spline unit Inspecting mechanical stops on page 90 x Inspecting the mechanical stop Inspecting timing belts on page 94 x Inspecting the timing belt Lubricating the ball screw spline unit on page 96 xiii Lubricating the b...

Страница 83: ...tion or dry out or insufficiency is observed Alternatively lubricate the ball screw spline unit regularly depending on the application condition iv The battery is to be replaced at given maintenance interval or at battery low alert v Not needed separately if already included in the application vi Recommended test interval is within the range 8 48 hours Product manual IRB 930 83 3HAC086009 001 Revi...

Страница 84: ... of normal usage in regard to movement most material handling applications and limited use of bending backwards mode of axis 3 ii Severe chemical or thermal environments or similar environments can result in shortened life expectancy iii Examples of extreme usage in regard to movement press tending very severe palletizing applications major use of axis 1 movement and major use of bending backwards...

Страница 85: ... required Inspecting labels Note Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 1 Inspect the labels located as shown in the figures 2 Article numbers for the labels and plate set is specified in Spare parts on page 599 Replace any missing or damaged labels 3 Product manual IRB 930 85 3HAC086009 001 ...

Страница 86: ... Action DANGER Turn off all electric power supply to the robot hydraulic pressure supply to the robot air pressure supply to the robot Before entering the robot working area 1 Visually inspect the control cabling between the robot and control cabinet the cabling to motors 1 and 2 Look for abrasions cuts or crush damage 2 Replace the cabling if wear or damage is detected 3 86 Product manual IRB 930...

Страница 87: ... of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC081796 001 Ball screw 3HAC081797 001 Ball screw long stroke 3HAC081785 001 Ball screw flange 3HAC081787 001 Rubber bumper 3HAC081786 001 Mechanical stopper 3HAC081703 001 Pulley on the ball screw upper po sition Continues on next page Product manual IRB 930 87 3HAC086009 001 Revision A Copyright 2023 ABB...

Страница 88: ...g brakes the robot axes may move very quickly and sometimes in unexpec ted ways Make sure the payload is disassembled or tooling is properly supported otherwise fast downward movements of axis 3 may cause severe hits 2 xx2300000168 Release the holding brake by pressing the button on the internal brake release unit 3 Move the outer arm to a position where the axis 3 can be moved in full stroke 4 xx...

Страница 89: ...e amount on the shaft 6 See Lubricating the ball screw spline unit on page 96 Apply grease to the shaft if it is not enough 7 See Replacing the ball screw on page 308 Replace the ball screw spline unit if wear or dam age is detected 8 Product manual IRB 930 89 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 3 Inspecting the ball screw spline unit Continued ...

Страница 90: ...l stops The mechanical stops on axis 1 2 and 3 are located as shown in the figures xx2300000173 Continues on next page 90 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 4 Inspecting mechanical stops ...

Страница 91: ...xx2300000174 xx2300000172 Continues on next page Product manual IRB 930 91 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 4 Inspecting mechanical stops Continued ...

Страница 92: ...r tools and procedures may be required if the spare part needs to be replaced These are specified in the replacement procedure Inspecting mechanical stops Use this procedure to inspect mechanical stops on axes 1 2 and 3 Information Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 1 Continues on next p...

Страница 93: ... if any mechanical stop is bent loose damaged Note The expected life of gearboxes can be reduced as a result of collisions with the mechanical stop 3 Product manual IRB 930 93 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 4 4 Inspecting mechanical stops Continued ...

Страница 94: ... N Axis 3 88 4 92 7 Hz 312 333 Hz 35 50 N 36 3 41 4 N Axis 4 Inspecting timing belts Use this procedure to inspect timing belts Information Action DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the robot working area 1 Gain access to each timing belt by removing the cover 2 Check the timing belts for damage or wear 3 Check the t...

Страница 95: ...cing the battery pack is accessible after removing the SMB from the base see Replacing the SMB unit and battery unit on page 129 Product manual IRB 930 95 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 5 Replacement changing activities ...

Страница 96: ...red tools and equipment Note Article number Equipment Used to release the motor brakes 24 VDC power supply Required consumables Note Article number Consumable THK AFA Grease Gastrol Spheerol EPL 1 3HAC077740 001 Grease Continues on next page 96 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 6 1 Lubricating the ball screw spline unit ...

Страница 97: ...ase the holding brake by pressing the button on the internal brake release unit 3 Move the outer arm to a position where the axis 3 can be moved in full stroke 4 Move the shaft manually to its upper limit while pressing the brake release button 5 Wipe off old grease from the shaft 6 Apply new grease and fill the grooves Wipe off excessive grease 7 Move the shaft manually to its lower limit while p...

Страница 98: ...overs are fitted to the robot before cleaning Do not point the water jet at connectors joints sealings or gaskets Do not use compressed air to clean the robot Do not use solvents that are not approved by ABB to clean the robot Do not remove any covers or other protective devices before cleaning the robot Cleaning methods This following table defines what cleaning methods are allowed for ABB manipu...

Страница 99: ...pread Minimum distance from nozzle to encapsulation 0 4 meters Maximum flow 20 liters minI I Typical tap water pressure and flow Cables Movable cables need to be able to move freely Remove waste material such as sand dust and chips if it prevents cable movement Clean the cables if they have a crusty surface for example from dry release agents 1 See Cleaning methods on page 98 for exceptions Produc...

Страница 100: ...s the amount in the specific gearbox can be found in Technical reference manual Lubrication in gearboxes available for registered users on myABB Business Portal www abb com myABB Location of gearboxes The figure shows the location of the gearboxes Equipment Note Equipment Includes pump with outlet pipe Oil dispenser Use the suggested dispenser or a similar one Orion OriCan article number 22590 pne...

Страница 101: ...ting vessel One example of oil dispenser can be found in section Type of lubrication in gearboxes on page 100 Oil dispenser Content is defined in section Standard toolkit on page 596 Standard toolkit Consumable Note Material Information about the oil is found in Technical refer ence manual Lubrication in gearboxes Lubricating oil See Type and amount of oil in gearboxes on page100 Continues on next...

Страница 102: ...re entering the safeguarded space 2 Draining oil of axis 1 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 30 1 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 2 Lay down the robot to let the quick coupling facing the ground if ...

Страница 103: ...ling on base 6 WARNING Used oil is hazardous material and must be disposed of in a safe way See Decom missioning on page 585 for more informa tion 7 Note Draining is time consuming Elapsed time varies depending on the temperature of the oil Drain the gearbox oil 8 Continues on next page Product manual IRB 930 103 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 8 2 ...

Страница 104: ...x Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 30 1 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 2 xx2300000547 Open the oil plugs one for filling and the other for venting 3 Continues on next page 104 Product manual IRB 930 3HAC0...

Страница 105: ...ion in gearboxes Refill the gearbox with oil Note The amount of oil to be filled depends on the amount previously being drained 5 Tightening torque 10 Nm Refit the oil plugs 6 Concluding procedure Note Action DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 55 1 Product manual IRB 930 105 3HAC086009 00...

Страница 106: ... collecting vessel One example of oil dispenser can be found in section Type of lubrication in gearboxes on page 100 Oil dispenser Content is defined in section Standard toolkit on page 596 Standard toolkit Consumable Note Material Information about the oil is found in Technical refer ence manual Lubrication in gearboxes Lubricating oil See Type and amount of oil in gearboxes on page100 Continues ...

Страница 107: ...off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Draining oil of axis 2 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 30 1 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let...

Страница 108: ...ng 5 WARNING Used oil is hazardous material and must be disposed of in a safe way See Decom missioning on page 585 for more informa tion 6 Note Draining is time consuming Elapsed time varies depending on the temperature of the oil Drain the gearbox oil 7 Continues on next page 108 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 4 Maintenance 4 8 3 Changing o...

Страница 109: ...es several safety risks see Gearbox lubricants oil or grease on page 30 1 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 2 xx2300000549 Open the upper oil plug Note The lower oil plug has to be closed other wise the oil may leak before required oil amount is filled 3 Continues on next page Product manu...

Страница 110: ...led depends on the amount previously being drained 5 CAUTION Oil filling must be slow to make sure air venting is fluent Tightening torque 10 Nm Refit the oil plug 6 DANGER Make sure all safety requirements are met when performing the first test run 7 Concluding procedure Note Action DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation...

Страница 111: ...placement unit This is particularly important for safety equipment to maintain the safety integrity of the installation Safety information Make sure to read through the chapter Safety on page 15 before commencing any service work Note The robot should be secured with the transportation brackets during removing from refitting to the foundation Note If the IRB 930 is connected to power always make s...

Страница 112: ...ure with the knob until the correct value is shown on the manometer CAUTION The pressure must under no circumstance be higher than 0 25 bar 20 25 kPa Also during the time when the pressure is raised 3 0 2 0 25 bar 20 25 kPa Disconnect the compressed air supply 4 If the compressed air is signific antly colder or warmer than the gearbox to be tested a slight pressure increase or decrease may occur T...

Страница 113: ...be exposed to any stresses during the assembly work 3 Assembly of tapered bearings Follow the preceding instructions for the assembly of the bearings when mounting a tapered bearing on the robot In addition to those instructions the following procedure must be carried out to enable the roller elements to adjust to the correct position against the race flange Note Action Tension the bearing gradual...

Страница 114: ... started During operation the bearing should be filled to 70 80 of the available volume Ensure that grease is handled and stored properly to avoid contamination Grease the different types of bearings as following description Grooved ball bearings must be filled with grease from both sides Tapered roller bearings and axial needle bearings must be greased in the split condition 114 Product manual IR...

Страница 115: ...an workbenches Use a protective sleeve for the main lip during mounting when sliding over threads keyways or other sharp edges Radial sealings A radial sealing consists of a flexible rubber lip bonded to a rigid metal case Only one side of the sealing is static with a metal insert xx2300000433 Note Action Check the sealing to ensure that The sealing is of the correct type There is no damage on the...

Страница 116: ...f the space between the dust lip and the main lip with grease If the sealing is without dust lip just lubricate the main lip with a thin layer of grease A xx2000000072 A Gap Mount the sealing correctly with a mounting tool Never hammer directly on the sealing as this may result in leakage 4 Continues on next page 116 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights re...

Страница 117: ...s evenly when fastening the flange joint 4 O rings The following procedure describes how to fit o rings Note Action Ensure that the correct o ring size is used 1 Defective o rings including damaged or deformed o rings may not be used Check the o ring for surface defects burrs shape accuracy or deformation 2 Check the o ring grooves and mating surfaces 3 They should be free of pores contamination a...

Страница 118: ...e White 3HAC067974 001 Touch up paint Standard Foundry Plus Removing Description Action xx2300000950 Cut the paint with a knife in the joint between the part that will be removed and the struc ture to avoid that the paint cracks 1 Carefully grind the paint edge that is left on the structure to a smooth surface 2 118 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights res...

Страница 119: ...out of date See the latest spare parts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC087326 001 Process hub Basic 3HAC087327 001 Process hub Basic C1 A 3HAC087328 001 Process hub Basic C1 C2 A 3HAC087313 001 Outer arm cover Continues on next page Product manual IRB 930 119 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 ...

Страница 120: ...bration All external cable packages DressPack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values These val ues are to be used after the repair proced ure is c...

Страница 121: ... supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Removing the process hub screws Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 Remove the screws locking the process hub 2 xx2300000487 Continues on next page Product manual IRB 930...

Страница 122: ...DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Cut the straps on the brackets Tip Take photos of the straps before cut them to have as a reference when reconnecting 2 Disconnecting the air hoses C1 cabling and C2 cabling if equipped Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure a...

Страница 123: ...ence when reconnecting 4 Tip The connector clip has to be pressed 1 and pushed forward 2 to separate the R1 C2 for C2 cabling xx1800002943 xx2300000544 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 5 Continues o...

Страница 124: ... are still ex isting inside the cable ferrule in the actual situ ation 3 Removing the process hub Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Take out the process hub CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown in foll...

Страница 125: ...leanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 xx2300000542 For robots with C1 cabling Reconnect the connector R2 C1 Tip See the number markings on the air hoses for help to find the corresponding air hoses The air hoses with the same number connect to the same L shaped connector 3 For robots with C2 cabling Reconnect the conn...

Страница 126: ...ion xx2300000545 Insert the female head of the PB connector to the bracket accordingly Tip The mistake proofing measure has been applied to the connectors the connectors may be dam aged if excessive force is used Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 1 xx2300000543 Reconnect ...

Страница 127: ...r Note Action Install a screw to the reserved hole on the process hub 1 Grip the screw to install the process hub 2 Screws Hex socket head cap screw M4x12 12 9 Lafre 2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown in fol...

Страница 128: ...553 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 55 2 128 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 1 Replacing the process hub Continued ...

Страница 129: ...abb com myABB Note Article number Spare part 3HAC063968 001 SMB unit Battery includes protection cir cuits Only replace with a spe cified spare part or an ABB ap proved equivalent 3HAC044075 001 Battery unit 3HAC087302 001 SMB cover Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Continues on next page Product m...

Страница 130: ... is to be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values These val ues are to be used after the repair proced ure is completed for calibration of the ro bot Creating new values requires possibility to move the robot Read more about reference calibration for Axis Calibration in Reference calibration routine on page 565 If no previou...

Страница 131: ...urned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 46 2 For robots with protection class IP30 option 3350 300 Remove the screws on the SMB cover to the base 3 Pull the SMB cover with the SMB unit assembly out together 4 xx2300000489 Continues on next page Product manual IRB 930 13...

Страница 132: ...e photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 4 Removing the SMB unit Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive ...

Страница 133: ...sure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 46 2 xx2100001035 Separate the battery unit from the SMB assembly by cutting the cable straps 3 Continues on next page Product manual IRB 930 133 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair ...

Страница 134: ...tery unit with the cable strap 2 Screws Hex socket head cap screw M3x5 12 9 Lafre 2C2B FC6 9 4 pcs Refit the SMB package to the SMB cover with the screws 3 Tightening torque 0 8 Nm xx2100001036 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 4 Continues on next page...

Страница 135: ...the screws 3 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 6 pcs Tightening torque 2 6 Nm xx2300000489 Concluding procedure Note Action Calibration is detailed in section Calibration on page 553 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 55 2 Product manual ...

Страница 136: ...Basic C1 Air 3HAC087322 001 Main harness S Basic C1 C2 Air 3HAC087323 001 Main harness L Basic 3HAC087324 001 Main harness L Basic C1 Air 3HAC087325 001 Main harness L Basic C1 C2 Air Base bottom cover rear cable 3HAC0081803 001 Base plate rear outlet cable Base rear cover bottom cable 3HAC087318 001 Rear plate underneath outlet cable Base bottom cover bottom cable 3HAC081817 001 Base plate undern...

Страница 137: ...ges DressPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values...

Страница 138: ...rta tion always keep it straight If the robot lay down in any situation the grease may come out from gearbox 2 xx2300000486 Jog all axes to zero position 3 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 4 Removing the process hub screws Note Action DANGER Make sure that all supplies for electrical power hyd...

Страница 139: ...th protection class IP30 Remove the screws on the cover of the outer arm and remove the cover 2 xx2300000488 Disconnecting the air hoses C1 cabling and C2 cabling if equipped Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Disconnect the air hoses from the L shaped con nectors 2 Continues on next page Product manual IRB 930 1...

Страница 140: ...The connector clip has to be pressed 1 and pushed forward 2 to separate the R1 C2 for C2 cabling xx1800002943 xx2300000544 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 5 Continues on next page 140 Product manua...

Страница 141: ...acket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 3 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 930 141 3HAC086009 00...

Страница 142: ...ss requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 4 motor Note Action xx2300000492 Disconnect the axis 4 motor connectors R2 MP4 R2 FB4 1 Continues on next page 142 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 3 Replacing the main harness Cont...

Страница 143: ...lies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000543 Disconnect the connector R2 PB 2 xx2300000545 Snap loose and remove the female head of the connector from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Continues on next page Pro...

Страница 144: ...nd air pressure are turned off 1 xx2300000496 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 xx2300000497 Remove the screws on the bracket Note The harness are not visible due to the cleann...

Страница 145: ... 3 xx2300000498 Removing the cable arm cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 Remove the cover 3 xx2300000499 Continues on next page Product manual IRB 930 145 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 ...

Страница 146: ...cover to the base 3 Pull the SMB cover with the SMB unit assembly out together 4 xx2300000489 Disconnecting the SMB cabling Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on pa...

Страница 147: ...power hydraulic pressure and air pressure are turned off 1 Remove the screws on the base to the ground 2 Lay down the robot 3 For rear outlet cable version For robot with rear outlet cable version remove the screws on the base plate 4 For robots with protection class IP30 option 3350 300 Remove the base plate 5 xx2300000500 Continues on next page Product manual IRB 930 147 3HAC086009 001 Revision ...

Страница 148: ...ake sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000502 Remove the grounding cable from the base by unscrew the screw 2 Removing the base bracket Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 148 Product manual IRB 930 3HAC086009 001 Revision A...

Страница 149: ...tor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000504 Disconnect the connectors R2 MP1 R2 FB1 2 xx2300000505 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferru...

Страница 150: ...cket from the cable arm to release the cable 2 Removing the main harness from the cable arm position Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 150 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 3 Replacing the main harness Continued ...

Страница 151: ...hen reconnecting For underneath outlet cable ver sion xx2300000612 Pull the main harness out of the cable arm from the inner arm 3 Removing the main harness from the axis 1 gearbox position Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 930 151 3HAC086009 001 Revision A Copyright 202...

Страница 152: ...utlet cable version Pull the main harness out of the inner arm from the sleeve of the axis 1 gearbox Tip Wrap the connectors with the masking tape 4 xx2300000507 For underneath outlet cable ver sion xx2300000612 Continues on next page 152 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 3 Replacing the main harness Continued ...

Страница 153: ...on 3350 300 Remove the main harness 3 xx2300000509 For underneath outlet cable ver sion For robot with underneath outlet cable version remove the screws on the main harness assembly 4 For robots with protection class IP30 option 3350 300 Remove the main harness assembly Note Remove the bottom plate from the main harness if needed 5 xx2300000609 Continues on next page Product manual IRB 930 153 3HA...

Страница 154: ...arm through the protection tube of the axis 1 gearbox from the base Tip Wrap the connectors with the masking tape 2 xx2300000510 Tip The air hoses should face the axis 1 motor CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary For underneath outlet cable ver sion xx2300000610 Continues on next page 154 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2...

Страница 155: ...nectors R2 MP1 R2 FB1 Tip See the number markings on the connectors for help to find the corresponding connector 2 Route the cabling behind the axis 1 motor CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 Refitting the base bracket Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure an...

Страница 156: ...the base bracket to the base and secure with the screws 3 Reconnecting the grounding cable connector Note Action Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 1 pcs Secure the grounding cable to the bracket with the screw 1 Tightening torque 1 2 Nm 10 xx2300000502 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the cables...

Страница 157: ...ng 1 For robots with protection class IP30 option 3350 300 Refit the SMB cover assembly 2 Secure the SMB cover to the base with the screws 3 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 6 pcs Tightening torque 2 6 Nm xx2300000489 Continues on next page Product manual IRB 930 157 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 3 Replacing the main harne...

Страница 158: ... version refit the main harness assembly to the base Note Refit the bottom plate to the main harness if needed 3 For robots with protection class IP30 option 3350 300 Screws Hex socket head cap screw M3x30 12 9 Lafre 2C2B FC6 9 8 pcs Tightening torque 1 2 Nm 10 Secure with the screws 4 xx2300000609 Refitting the base plate rear plate Note Action Apply grease to the internal harness cover all movin...

Страница 159: ...tion class IP30 option 3350 300 xx2300000608 Refit the robot back to the ground 4 Screws Hex socket head cap screw M12x35 12 9 Gleitmo 603 Geomet 500 4 pcs Secure with the screws 5 Steel Washers 24 mm x 13 mm x 2 5 mm 4 pcs Tightening torque 56 Nm 10 Inserting the main harness through the inner arm position Note Action Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs x 2 Secure t...

Страница 160: ...510 For underneath outlet cable ver sion xx2300000610 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs Secure the bracket to the inner arm 3 Tightening torque 2 4 Nm 10 xx2300000508 Continues on next page 160 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 3 Replacing the main harness Continued ...

Страница 161: ...masking tape 1 xx2300000510 For underneath outlet cable ver sion xx2300000610 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs Secure the bracket to the inner arm 2 Tightening torque 2 4 Nm 10 xx2300000506 Continues on next page Product manual IRB 930 161 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 3 Replacing the main harness Continued ...

Страница 162: ...cs Secure the cable ferrule to the bracket with the screws Tip The air hoses should face the process hub side 3 Tightening torque 2 4 Nm 10 xx2300000496 Tip The position with wrapped tape is the marked position for the cable ferrule Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Tip Align all the cable ferrules so that the cable is in a natura...

Страница 163: ...x2300000492 Reconnect the connectors R2 MP4 R2 FB4 Tip See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 1 Route the cabling on the axis 4 motor CAUTION Correct cable routing is highly important If the cables a...

Страница 164: ...1 xx2300000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling on the axis 3 motor CAUTION Correct cable routing is highly important If the cables ar...

Страница 165: ...xx2300000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling behind the axis 2 motor CAUTION Correct cable routing is highly important If the cables ...

Страница 166: ...markings on the connectors for help to find the corresponding connector 2 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the cables are routed incorrectly the cables can be damaged 3 Reconnecting the air hoses CP CS cabling and Ethernet cabling if equipped Note Action Route the air hoses on the process hub behind the bracket CAUTION Co...

Страница 167: ...r hoses with the same number connect to the same L shaped connector 3 For robots with C2 cabling Reconnect the connector R1 C2 Tip See the number markings on the air hoses for help to find the corresponding air hoses The air hoses with the same number connect to the same L shaped connector 4 Secure the C2 cabling to the C2 bracket with the cable straps 5 Reconnect the air hoses in a cross pattern ...

Страница 168: ...m cover Note Action Install a screw to the reserved hole on the process hub 1 Grip the screw to install the process hub 2 Screws Hex socket head cap screw M4x12 12 9 Lafre 2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown ...

Страница 169: ...m cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 7 pcs Refit the cover 2 Refit the screws 3 Tightening torque 6 Nm 3 For robots with protection class IP30 option 3350 300 xx2300000499 Continues on next page Product manual IRB 930 169 3HAC086009 001 Revision A...

Страница 170: ...the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 55 2 170 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 3 3 Replacing the main harness Continued ...

Страница 171: ...t 3HAC087301 001 Base 3HAC087316 001 Airway cover 3HAC084080 001 Airway cover gasket Base bottom cover rear cable 3HAC0081803 001 Base plate rear outlet cable Base rear cover bottom cable 3HAC087318 001 Rear plate underneath outlet cable Base bottom cover bottom cable 3HAC081817 001 Base plate underneath outlet cable 3HAC074630 001 Quick coupling 3HAC081791 001 Base bracket Continues on next page ...

Страница 172: ...ir work of the robot see the table Note Action Decide which calibration routine to use for calibrating the robot Reference calibration External cable packages DressPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to crea...

Страница 173: ...aintenance work remove the robot from the wall and place it on the maintenance bracket CAUTION Do not lay down the robot during the transporta tion always keep it straight If the robot lay down in any situation the grease may come out from gearbox 2 xx2300000486 Jog all axes to zero position 3 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot befo...

Страница 174: ...ressure out 2 Lay down the robot to let the quick coupling facing the ground if needed 3 xx2300000546 Place the oil collecting vessel underneath the quick coupling 4 xx2300000547 Remove the oil plugs and keep them opened to speed up the drainage 5 Plug a G3 8 quick coupling connector with pipe to the quick coupling on base 6 Continues on next page 174 Product manual IRB 930 3HAC086009 001 Revision...

Страница 175: ...There will be some oil left in the gearbox after draining 9 Tightening torque 10 Nm Refit oil plugs 10 Removing the process hub screws Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 Remove the screws locking the process hub 2 xx2300000487 Push the process hub to the outer arm 3 Continues...

Страница 176: ...rm and remove the cover 2 xx2300000488 Disconnecting the air hoses C1 cabling and C2 cabling if equipped Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Disconnect the air hoses from the L shaped con nectors 2 Continues on next page 176 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 ...

Страница 177: ...Tip The connector clip has to be pressed 1 and pushed forward 2 to separate the R1 C2 for C2 cabling xx1800002943 xx2300000544 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 5 Continues on next page Product manua...

Страница 178: ...e bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 3 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 178 Product manual IRB 930 3HAC08600...

Страница 179: ...anness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 4 motor Note Action xx2300000492 Disconnect the axis 4 motor connectors R2 MP4 R2 FB4 1 Continues on next page Product manual IRB 930 179 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the base Continue...

Страница 180: ...supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000543 Disconnect the connector R2 PB 2 xx2300000545 Snap loose and remove the female head of the connector from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Continues on next page...

Страница 181: ...re and air pressure are turned off 1 xx2300000496 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 xx2300000497 Remove the screws on the bracket Note The harness are not visible due to the cl...

Страница 182: ...over 3 xx2300000498 Removing the cable arm cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 Remove the cover 3 xx2300000499 Continues on next page 182 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair ...

Страница 183: ...SMB cover to the base 3 Pull the SMB cover with the SMB unit assembly out together 4 xx2300000489 Disconnecting the SMB cabling Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD o...

Страница 184: ...cal power hydraulic pressure and air pressure are turned off 1 Remove the screws on the base to the ground 2 Lay down the robot 3 For rear outlet cable version For robot with rear outlet cable version remove the screws on the base plate 4 For robots with protection class IP30 option 3350 300 Remove the base plate 5 xx2300000500 Continues on next page 184 Product manual IRB 930 3HAC086009 001 Revis...

Страница 185: ...re that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000502 Remove the grounding cable from the base by unscrew the screw 2 Disconnecting the connectors for axis 1 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 930 185 3HAC086009 ...

Страница 186: ...supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000503 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 Remove the screws on the base bracket to the b...

Страница 187: ... bracket from the cable arm to release the cable 2 Removing the main harness from the cable arm position Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 930 187 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the base Continued ...

Страница 188: ...ce when reconnecting For underneath outlet cable ver sion xx2300000612 Pull the main harness out of the cable arm from the inner arm 3 Removing the main harness from the axis 1 gearbox position Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 188 Product manual IRB 930 3HAC086009 001 Revision A Copyright...

Страница 189: ...ar outlet cable version Pull the main harness out of the inner arm from the sleeve of the axis 1 gearbox Tip Wrap the connectors with the masking tape 4 xx2300000507 For underneath outlet cable ver sion xx2300000612 Continues on next page Product manual IRB 930 189 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the base Continued ...

Страница 190: ...utlet cable ver sion For robot with underneath outlet cable version remove the screws on the main harness assembly 4 For robots with protection class IP30 option 3350 300 Remove the main harness assembly Note Remove the bottom plate from the main harness if needed 5 xx2300000609 Removing the oil tank Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pre...

Страница 191: ...c pressure and air pressure are turned off 1 xx2300000512 Remove the screws and washers 2 Remove the motor 3 Removing the protection tube Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 930 191 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing t...

Страница 192: ...ower hydraulic pressure and air pressure are turned off 1 xx2300000514 Remove the screws and washers on the inner to the axis 1 gear unit 2 Disconnect the axis 1 gear to the inner arm 3 xx2300000602 Remove the BassSwing gasket on the axis 1 gear unit 4 Continues on next page 192 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the bas...

Страница 193: ...ng the base from the axis 1 gear unit sub assembly Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000515 Remove the screws and washers on the base to the axis 1 gear unit 2 Remove the base 3 Continues on next page Product manual IRB 930 193 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1...

Страница 194: ...e base Use these procedures to refit the base Refitting the base to the axis 1 gear unit sub assembly Note Action Screws Hex socket head cap screw M6x65 12 9 Gleitmo 603 Geomet 500 11 pcs Refit the base to the axis 1 gearbox as the illustra tion 1 Refit the screws 2 Tightening torque 10 Nm 10 xx2300000515 Continues on next page 194 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 AB...

Страница 195: ...b assembly Note Action Replace the o ring if needed 1 Put the timing belt into the pulley on the gear 2 Screws Hex socket head cap screw M6x20 12 9 Gleitmo 603 Geomet 500 4 pcs Refit the motor and refit the timing belt to the motor Ensure that the belt runs correctly in the grooves 3 Washers Spring washer conical 11x5 3x1 2 Steel 4 pcs Refit the screws and washers without fully tightened 4 Tighten...

Страница 196: ...ustration 2 Refit the screws 3 Washers Spring washer conical 9ADA334 7 18x4x2 Steel 8 pcs Tightening torque 25 Nm 3 xx2300000514 Refitting the protection tube Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 196 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Rep...

Страница 197: ...ER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 5 pcs Refit the oil tank 2 Secure the screws on the oil tank to the inner arm 3 Tightening torque 2 4 Nm 3 xx2300000511 Continues on next page Product manual IRB 930 197 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved...

Страница 198: ...f the axis 1 gearbox from the base Tip Wrap the connectors with the masking tape 2 xx2300000510 Tip The air hoses should face the axis 1 motor CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary For underneath outlet cable ver sion xx2300000610 Continues on next page 198 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Rep...

Страница 199: ... connectors R2 MP1 R2 FB1 Tip See the number markings on the connectors for help to find the corresponding connector 2 Route the cabling behind the axis 1 motor CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 Refitting the base bracket Note Action DANGER Make sure that all supplies for electrical power hydraulic pressur...

Страница 200: ...fit the base bracket to the base and secure with the screws 3 Reconnecting the grounding cable connector Note Action Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 1 pcs Secure the grounding cable to the bracket with the screw 1 Tightening torque 1 2 Nm 10 xx2300000502 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the ca...

Страница 201: ...ecting 1 For robots with protection class IP30 option 3350 300 Refit the SMB cover assembly 2 Secure the SMB cover to the base with the screws 3 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 6 pcs Tightening torque 2 6 Nm xx2300000489 Continues on next page Product manual IRB 930 201 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the base C...

Страница 202: ...able version refit the main harness assembly to the base Note Refit the bottom plate to the main harness if needed 3 For robots with protection class IP30 option 3350 300 Screws Hex socket head cap screw M3x30 12 9 Lafre 2C2B FC6 9 8 pcs Tightening torque 1 2 Nm 10 Secure with the screws 4 xx2300000609 Refitting the base plate rear plate Note Action Apply grease to the internal harness cover all m...

Страница 203: ...otection class IP30 option 3350 300 xx2300000608 Refit the robot back to the ground 4 Screws Hex socket head cap screw M12x35 12 9 Gleitmo 603 Geomet 500 4 pcs Secure with the screws 5 Steel Washers 24 mm x 13 mm x 2 5 mm 4 pcs Tightening torque 56 Nm 10 Inserting the main harness through the inner arm position Note Action Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs x 2 Secu...

Страница 204: ...0000510 For underneath outlet cable ver sion xx2300000610 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs Secure the bracket to the inner arm 3 Tightening torque 2 4 Nm 10 xx2300000508 Continues on next page 204 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the base Continued ...

Страница 205: ...the masking tape 1 xx2300000510 For underneath outlet cable ver sion xx2300000610 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs Secure the bracket to the inner arm 2 Tightening torque 2 4 Nm 10 xx2300000506 Continues on next page Product manual IRB 930 205 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the base Continued ...

Страница 206: ... 2 pcs Secure the cable ferrule to the bracket with the screws Tip The air hoses should face the process hub side 3 Tightening torque 2 4 Nm 10 xx2300000496 Tip The position with wrapped tape is the marked position for the cable ferrule Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Tip Align all the cable ferrules so that the cable is in a na...

Страница 207: ...on xx2300000492 Reconnect the connectors R2 MP4 R2 FB4 Tip See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 1 Route the cabling on the axis 4 motor CAUTION Correct cable routing is highly important If the cabl...

Страница 208: ...ion 1 xx2300000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling on the axis 3 motor CAUTION Correct cable routing is highly important If the cable...

Страница 209: ...n 1 xx2300000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling behind the axis 2 motor CAUTION Correct cable routing is highly important If the cab...

Страница 210: ...ber markings on the connectors for help to find the corresponding connector 2 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the cables are routed incorrectly the cables can be damaged 3 Reconnecting the air hoses CP CS cabling and Ethernet cabling if equipped Note Action Route the air hoses on the process hub behind the bracket CAUTIO...

Страница 211: ...e air hoses with the same number connect to the same L shaped connector 3 For robots with C2 cabling Reconnect the connector R1 C2 Tip See the number markings on the air hoses for help to find the corresponding air hoses The air hoses with the same number connect to the same L shaped connector 4 Secure the C2 cabling to the C2 bracket with the cable straps 5 Reconnect the air hoses in a cross patt...

Страница 212: ...r arm cover Note Action Install a screw to the reserved hole on the process hub 1 Grip the screw to install the process hub 2 Screws Hex socket head cap screw M4x12 12 9 Lafre 2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as sh...

Страница 213: ...e arm cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 7 pcs Refit the cover 2 Refit the screws 3 Tightening torque 6 Nm 3 For robots with protection class IP30 option 3350 300 xx2300000499 Continues on next page Product manual IRB 930 213 3HAC086009 001 Revisi...

Страница 214: ...rbox lubricant can lead to internal over pressure inside the gearbox which in turn may damage seals and gaskets completely press out seals and gaskets prevent the robot from moving freely 4 Type of oil and total amount is detailed in Technical reference manual Lubrication in gearboxes Refill the gearbox with oil Note The amount of oil to be filled depends on the amount previously being drained 5 T...

Страница 215: ...ate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 55 2 Product manual IRB 930 215 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 4 1 Replacing the base Continued ...

Страница 216: ...t spare parts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC087304 001 Inner arm 850 mm 3HAC087305 001 Inner arm 1 050 mm 3HAC087308 001 Axis 1 Cover Replace if damaged 3HAC081810 001 Oil tank Replace if damaged 3HAC081812 001 Oil tank cover Continues on next page 216 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights rese...

Страница 217: ...001 Washer Used for inner arm and axis 1 gear 9ADA334 7 Spring washer conical Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Delivered as a set of calibration tools Required if Axis Calibration is the valid calibration method for the robot 3HAC074119 001 Calibration toolbox Axis Calibra tion Used for measuring ...

Страница 218: ... requires possibility to move the robot Read more about reference calibration for Axis Calibration in Reference calibration routine on page 565 If no previous reference values exist and no new reference values can be created then reference calibration is not possible If the robot is to be calibrated with fine calibration Remove all external cable packages DressPack and tools from the robot Removin...

Страница 219: ...oil involves several safety risks see Gearbox lubricants oil or grease on page 30 1 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 2 Lay down the robot to let the quick coupling facing the ground if needed 3 Continues on next page Product manual IRB 930 219 3HAC086009 001 Revision A Copyright 2023 ABB ...

Страница 220: ...coupling on base 6 WARNING Used oil is hazardous material and must be disposed of in a safe way See Decom missioning on page 585 for more informa tion 7 Note Draining is time consuming Elapsed time varies depending on the temperature of the oil Drain the gearbox oil 8 Continues on next page 220 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 R...

Страница 221: ...ricants oil or grease on page 30 1 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 2 xx2300000548 Place the oil collecting vessel underneath the oil plug draining 3 Plug a clean pipe to the oil plug draining with the other end to the oil collecting ves sel 4 Continues on next page Product manual IRB 930...

Страница 222: ... gearbox oil 7 Remove and clean the pipe after the oil is drained Note There will be some oil left in the gearbox after draining 8 Tightening torque 10 Nm Refit oil plugs 9 Removing the cover of the outer arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 222 Product manual IRB 930 3HAC086009 001 Revis...

Страница 223: ...ng and C2 cabling if equipped Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Disconnect the air hoses from the L shaped con nectors 2 Continues on next page Product manual IRB 930 223 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner arm Continued ...

Страница 224: ... The connector clip has to be pressed 1 and pushed forward 2 to separate the R1 C2 for C2 cabling xx1800002943 xx2300000544 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 5 Continues on next page 224 Product manu...

Страница 225: ...bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 3 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 930 225 3HAC086009 ...

Страница 226: ...ness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 4 motor Note Action xx2300000492 Disconnect the axis 4 motor connectors R2 MP4 R2 FB4 1 Continues on next page 226 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner arm Conti...

Страница 227: ...pplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000543 Disconnect the connector R2 PB 2 xx2300000545 Snap loose and remove the female head of the connector from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Continues on next page P...

Страница 228: ...and air pressure are turned off 1 xx2300000496 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 xx2300000497 Remove the screws on the bracket Note The harness are not visible due to the clean...

Страница 229: ... 2 Removing the axis 1 cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 Remove the cover 3 xx2300000498 Continues on next page Product manual IRB 930 229 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the ...

Страница 230: ...ng the SMB cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 46 2 Continues on next page 230 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All ...

Страница 231: ...ed off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 46 2 Cut the strips 3 xx2100000945 Disconnect the connectors SMB P7 SMB J1 SMB J2 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 4 Continues on next page Product...

Страница 232: ...e the screws on the base plate 4 For robots with protection class IP30 option 3350 300 Remove the base plate 5 xx2300000500 For underneath outlet cable ver sion For robot with underneath outlet cable version remove the screws on the rear plate 6 For robots with protection class IP30 option 3350 300 Remove the rear plate 7 xx2300000608 Continues on next page 232 Product manual IRB 930 3HAC086009 00...

Страница 233: ... base by unscrew the screw 2 Disconnecting the connectors for axis 1 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000504 Disconnect the connectors R2 MP1 R2 FB1 2 Continues on next page Product manual IRB 930 233 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner...

Страница 234: ...rews on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 Remove the screws on the base bracket to the base from the SMB side 3 Removing the bracket of the cable arm Note Action DANGER Make sure that all supplies ...

Страница 235: ...cable version Pull the main harness out of the outer arm from lower of the cable arm Tip Wrap the connectors with the masking tape 2 xx2300000507 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting For underneath outlet cable ver sion xx2300000612 Continues on next page Product manual IRB 930 235 3HAC086009 001 Revision A Copyright...

Страница 236: ...electrical power hydraulic pressure and air pressure are turned off 1 xx2300000508 Remove the bracket from the inner arm to release the cable 2 Remove the screws on the cable ferrule to the bracket and take the bracket out 3 Continues on next page 236 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner arm Continued ...

Страница 237: ...ing the cable arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000516 Remove the screws locking the cable arm to the outer arm 2 Remove the cable arm by pulling out from the in ner arm bearing 3 Continues on next page Product manual IRB 930 237 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair...

Страница 238: ...inside the inner arm 2 xx2300000517 Remove the outer arm assembly slightly 3 xx2300000603 Remove the gear gasket on the axis 2 gear unit 4 Removing the oil tank Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 238 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 R...

Страница 239: ...re turned off 1 xx2300000513 Remove the screws on the protection tube to the inner arm 2 Remove the protection tube 3 Removing the base from inner arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 930 239 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 ...

Страница 240: ...4 Removing the rubber stop from the inner arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000551 Remove the screws 2 Remove the rubber stop from the inner arm 3 Continues on next page 240 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner arm Co...

Страница 241: ...rom the inner arm 3 Removing the A2 swing from the inner arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000554 Remove the screws 2 Remove the A2 swing from the inner arm 3 Continues on next page Product manual IRB 930 241 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the ...

Страница 242: ...dures to refit the inner arm Refitting the A1 sealing ring to the inner arm Note Action Sealing press tool 3HAC087848 001 Install the holding part of the sealing press tool to the inner arm and locking with the screws 1 Screws Hex socket head cap screw M4x12 12 9 Lafre 2C2B FC6 9 4 pcs xx2300000585 Continues on next page 242 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All r...

Страница 243: ...he A1 sealing ring to the inner arm by tightening the pressing part with the screw to the holding part 3 xx2300000587 Remove the pressing part by unscrewing the screw 4 Remove the holding part by unscrewing the screws 5 Continues on next page Product manual IRB 930 243 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner arm Continued ...

Страница 244: ...rque 2 8 Nm 3 xx2300000554 Refitting the damper to the inner arm Note Action Screws Torx pan head screw 9ADA625 34 M4x10 8 8 A2F 1 pcs Refit the damper back to the inner arm 1 Secure with the screws 2 Tightening torque 1 Nm 3 xx2300000552 Continues on next page 244 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner arm Continu...

Страница 245: ... the inner arm 1 Secure with the screws 2 Tightening torque 1 Nm xx2300000551 Refitting the base to the inner arm Note Action xx2300000602 Refit the BassSwing gasket to the axis 1 gearbox 1 Continues on next page Product manual IRB 930 245 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner arm Continued ...

Страница 246: ...ction tube Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 4 pcs Refit the protection tube 2 Secure the screws on the protection tube to the inner arm 3 Tightening torque 1 Nm xx2300000513 Continues on next page 246 Product manual IRB 930 3HAC086009 001 Revision A C...

Страница 247: ... the oil tank to the inner arm 3 Tightening torque 2 4 Nm 3 xx2300000511 Refitting the outer arm to the inner arm Note Action CAUTION Whenever parting mating motor and gearbox the gears may be damaged if excessive force is used 1 xx2300000603 Refit the gear gasket to the axis 2 gear unit 2 Continues on next page Product manual IRB 930 247 3HAC086009 001 Revision A Copyright 2023 ABB All rights res...

Страница 248: ...s 2 belt location are left empty 4 xx2300000517 Refitting the cable arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Refit the cable arm to the inner arm and outer arm 2 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 8 pcs Secure the cable arm to the outer arm with the screws 3 Tightening torque 3 3 Nm2 4 Nm ...

Страница 249: ...the axis 1 gearbox from the base Tip Wrap the connectors with the masking tape 2 xx2300000510 Tip The air hoses should face the axis 1 motor CAUTION Make sure that no cables or hoses are twisted or strained Reroute if necessary For underneath outlet cable ver sion xx2300000610 Continues on next page Product manual IRB 930 249 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repai...

Страница 250: ...onnectors R2 MP1 R2 FB1 Tip See the number markings on the connectors for help to find the corresponding connector 2 Route the cabling behind the axis 1 motor CAUTION Correct cable routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 3 Refitting the base bracket Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure ...

Страница 251: ...t the base bracket to the base and secure with the screws 3 Reconnecting the grounding cable connector Note Action Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 1 pcs Secure the grounding cable to the bracket with the screw 1 Tightening torque 1 2 Nm 10 xx2300000502 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the cabl...

Страница 252: ...ting 1 For robots with protection class IP30 option 3350 300 Refit the SMB cover assembly 2 Secure the SMB cover to the base with the screws 3 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 6 pcs Tightening torque 2 6 Nm xx2300000489 Continues on next page 252 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner ar...

Страница 253: ...e version refit the main harness assembly to the base Note Refit the bottom plate to the main harness if needed 3 For robots with protection class IP30 option 3350 300 Screws Hex socket head cap screw M3x30 12 9 Lafre 2C2B FC6 9 8 pcs Tightening torque 1 2 Nm 10 Secure with the screws 4 xx2300000609 Refitting the base plate rear plate Note Action Apply grease to the internal harness cover all movi...

Страница 254: ...ection class IP30 option 3350 300 xx2300000608 Refit the robot back to the ground 4 Screws Hex socket head cap screw M12x35 12 9 Gleitmo 603 Geomet 500 4 pcs Secure with the screws 5 Steel Washers 24 mm x 13 mm x 2 5 mm 4 pcs Tightening torque 56 Nm 10 Inserting the main harness through the inner arm position Note Action Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs x 2 Secure...

Страница 255: ...0510 For underneath outlet cable ver sion xx2300000610 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs Secure the bracket to the inner arm 3 Tightening torque 2 4 Nm 10 xx2300000508 Continues on next page Product manual IRB 930 255 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner arm Continued ...

Страница 256: ...e masking tape 1 xx2300000510 For underneath outlet cable ver sion xx2300000610 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs Secure the bracket to the inner arm 2 Tightening torque 2 4 Nm 10 xx2300000506 Continues on next page 256 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner arm Continued ...

Страница 257: ... pcs Secure the cable ferrule to the bracket with the screws Tip The air hoses should face the process hub side 3 Tightening torque 2 4 Nm 10 xx2300000496 Tip The position with wrapped tape is the marked position for the cable ferrule Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Tip Align all the cable ferrules so that the cable is in a natu...

Страница 258: ... xx2300000492 Reconnect the connectors R2 MP4 R2 FB4 Tip See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 1 Route the cabling on the axis 4 motor CAUTION Correct cable routing is highly important If the cables...

Страница 259: ...n 1 xx2300000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling on the axis 3 motor CAUTION Correct cable routing is highly important If the cables ...

Страница 260: ...1 xx2300000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling behind the axis 2 motor CAUTION Correct cable routing is highly important If the cable...

Страница 261: ... markings on the connectors for help to find the corresponding connector 2 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the cables are routed incorrectly the cables can be damaged 3 Reconnecting the air hoses CP CS cabling and Ethernet cabling if equipped Note Action Route the air hoses on the process hub behind the bracket CAUTION C...

Страница 262: ...ir hoses with the same number connect to the same L shaped connector 3 For robots with C2 cabling Reconnect the connector R1 C2 Tip See the number markings on the air hoses for help to find the corresponding air hoses The air hoses with the same number connect to the same L shaped connector 4 Secure the C2 cabling to the C2 bracket with the cable straps 5 Reconnect the air hoses in a cross pattern...

Страница 263: ...aulic pressure and air pressure are turned off 1 xx2300000550 Refit the protection cover back to the motor 2 Refitting the cover of the outer arm Note Action Screw Hex socket head cap screw M4x30 12 9 Lafre 2C2B FC6 9 14 pcs Refit the cover 1 Refit the screws 2 Tightening torque 2 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000488 Continues on next page Product manual IRB 9...

Страница 264: ...tely until the connectors are disconnected as shown in following steps 3 Tightening torque 2 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000487 Remove the screw 4 Refitting the axis 1 cover Note Action Screw Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 6 pcs Refit the cover 1 Refit the screws 2 Tightening torque 2 4 Nm 3 For robots with protection class IP30 option...

Страница 265: ...on class IP30 option 3350 300 xx2300000499 Refilling oil to axis 1 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 30 1 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 2 Continues on next page Product manual IRB 930 265 3HAC0860...

Страница 266: ... gearbox with oil Note The amount of oil to be filled depends on the amount previously being drained 5 Tightening torque 10 Nm Refit the oil plugs 6 Refilling oil to axis 2 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 30 1 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug care...

Страница 267: ...ference manual Lubrication in gearboxes Refill the gearbox with oil Note The amount of oil to be filled depends on the amount previously being drained 5 CAUTION Oil filling must be slow to make sure air venting is fluent Tightening torque 10 Nm Refit the oil plug 6 DANGER Make sure all safety requirements are met when performing the first test run 7 Concluding procedure Note Action Calibration is ...

Страница 268: ...s are met when performing the first test run See Test run after installation maintenance or repair on page 55 2 268 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 1 Replacing the inner arm Continued ...

Страница 269: ...pare parts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part Replace if damaged 3HAC081810 001 Oil tank Replace if damaged 3HAC081812 001 Oil tank cover Replace if damaged 3HAC081814 001 Oil tank gasket Replace if damaged 3HAB3772 138 Oil tank O ring Continues on next page Product manual IRB 930 269 3HAC086009 001 Revision A Copyright 2023 ABB All rights res...

Страница 270: ... robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values These val ues are to be used after the repair proced ure is completed for calibration of the ro bot Creating new values requires possibility to move the robot Read more about reference calibration for Axis Calibration in Reference calibration routine on page 565 If no p...

Страница 271: ...ir pressure supply to the robot before entering the safeguarded space 4 Draining oil of axis 1 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 30 1 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 2 Lay down the robot to let the ...

Страница 272: ...pling on base 6 WARNING Used oil is hazardous material and must be disposed of in a safe way See Decom missioning on page 585 for more informa tion 7 Note Draining is time consuming Elapsed time varies depending on the temperature of the oil Drain the gearbox oil 8 Continues on next page 272 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 2 Repl...

Страница 273: ...rical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 Remove the cover 3 xx2300000498 Removing the oil tank Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 930 273 3HAC086009 001 Revision A Copyright ...

Страница 274: ... all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 5 pcs Refit the oil tank 2 Secure the screws on the oil tank to the inner arm 3 Tightening torque 2 4 Nm 3 xx2300000511 Continues on next page 274 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 5 2 R...

Страница 275: ...andling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 30 1 CAUTION The gearbox can contain an excess of pressure that can be hazardous Open the oil plug carefully in order to let the excess pressure out 2 xx2300000547 Open the oil plugs one for filling and the other for venting 3 Continues on next page Product manual IRB 930 275 3HAC086009 001 Revision A Co...

Страница 276: ... oil Note The amount of oil to be filled depends on the amount previously being drained 5 Tightening torque 10 Nm Refit the oil plugs 6 Concluding procedure Note Action Calibration is detailed in section Calibration on page 553 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 55...

Страница 277: ...atest spare parts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC081787 001 Rubber bumper 3HAC081786 001 Mechanical stopper Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Continues on next page Product manual IRB 930 277 3HAC086009 001 Revision A Copyright 2023 ABB...

Страница 278: ...ne on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values These val ues are to be used after the repair proced ure is completed for calibration of the ro bot Creating new values requires possibility to move the robot Read more about reference calibration for Axis Calibrati...

Страница 279: ... turned off 1 xx2300000555 Remove the screws 2 Remove the mechanical stopper Tip Hold the ball screw to prevent it from dropping Or the ball screw may be destroyed 3 CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this Continues on next page Product manual IRB 930 279 3HAC086009 001 Revision...

Страница 280: ...ligned with the ball screw origin point CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this Screws Hex socket head cap screw M4x14 12 9 Lafre 2C2B FC6 9 2 pcs Refit the screws 2 Tightening torque 6 Nm xx2300000555 Concluding procedure Note Action DANGER Make sure all safety requirements are...

Страница 281: ... the safeguarded space 3 Removing the lower mechanical stopper Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 xx2300000556 Remove the mechanical stopper CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is ...

Страница 282: ... ball screw is destroyed Be careful when you do any work that may cause this Note Be careful with the orientation of the mechanical stopper The flat side is on the upper side Screws Hex socket head cap screw M4x14 12 9 Lafre 2C2B FC6 9 2 pcs Refit the screws 2 Tightening torque 6 Nm For robots with protection class IP30 option 3350 300 xx2300000556 Concluding procedure Note Action DANGER Make sure...

Страница 283: ... of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC081703 001 Pulley on the ball screw upper po sition Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Continues on next page Product manual IRB 930 283 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 R...

Страница 284: ...sPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values These v...

Страница 285: ... down in any situation the grease may come out from gearbox 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Removing the process hub screws Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 Remove...

Страница 286: ...e that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 DANGER Make sure that the ball screw is supported with something The sudden drop of the ball screw due the lost of the axis 3 motor may cause danger 2 xx2300000557 Loosen the screws of the axis 3 motor sub as sembly to let the axis 3 timing belt free 3 Continues on next page 286 Product manual IRB 930 3HA...

Страница 287: ...ng belt be free 2 Release the timing belt 3 Removing the lower mechanical stopper Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 xx2300000556 Continues on next page Product manual IRB 930 287 3HAC086009 001 Revision A Copyright 2023 ABB All rights rese...

Страница 288: ...rned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 46 2 xx2300000559 Remove the screws and washers on the ball screw flange 3 IRB 930 auxiliary shaft 3HAC087847 001 Insert the special tool auxiliary shaft into the ball screw shaft 4 xx2300000562 Continues on next page 288 Product m...

Страница 289: ...ome thing Or the ball screw lower nut will be destroyed 6 xx2300000565 Lay down the ball screw assembly CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this 7 Removing the pulley on the ball screw upper position Note Action DANGER Make sure that all supplies for electrical power hydraulic pr...

Страница 290: ...ft the ball screw is destroyed Be careful when you do any work that may cause this 4 Refitting the pulley on the ball screw upper position Use these procedures to refit the pulley Refitting the pulley on the ball screw upper position Note Action ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on p...

Страница 291: ...Secure with the stopping tool to prevent the pulley from rotating 3 Refitting the ball screw with the flange Note Action IRB 930 auxiliary shaft 3HAC087847 001 Refit the ball screw assembly to the outer arm Tip Make sure the marked location is aligned with the ball screw shaft grooves 1 xx2300000564 CAUTION With the inserting of the ball screw shaft remove the special tool auxiliary shaft along wi...

Страница 292: ...50 300 Refit the mechanical stopper to the ball screw at 52 mm position to the lower of the ball screw Tip Make sure that the limit block opening gap is aligned with the ball screw origin point 1 xx2300000561 CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this Note Be careful with the orien...

Страница 293: ...6 9 14 pcs Refit the cover 1 Refit the screws 2 Tightening torque 2 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000488 Securing the process hub to outer arm cover Note Action Install a screw to the reserved hole on the process hub 1 Grip the screw to install the process hub 2 Continues on next page Product manual IRB 930 293 3HAC086009 001 Revision A Copyright 2023 ABB All ...

Страница 294: ... 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000487 Remove the screw 4 Concluding procedure Note Action Calibration is detailed in section Calibration on page 553 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 55 2 294 Product manual IRB 930 3HAC086009 ...

Страница 295: ... of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC081704 001 Pulley on the ball screw lower pos ition Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Continues on next page Product manual IRB 930 295 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 R...

Страница 296: ...ion External cable packages DressPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or cre...

Страница 297: ... the transporta tion always keep it straight If the robot lay down in any situation the grease may come out from gearbox 2 xx2300000486 Jog all axes to zero position 3 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 4 Removing the process hub screws Note Action DANGER Make sure that all supplies for electric...

Страница 298: ... are turned off 1 For robots with protection class IP30 Remove the screws on the cover of the outer arm and remove the cover 2 xx2300000488 Releasing the axis 3 timing belt Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 298 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights ...

Страница 299: ...elt 4 Releasing the axis 4 timing belt Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000558 Loosen the six screws of the axis 4 motor sub assembly to let the axis 4 timing belt be free 2 Release the timing belt 3 Continues on next page Product manual IRB 930 299 3HAC086009 001 Revision A Copyright 2023 ABB All rights ...

Страница 300: ...stroyed Be careful when you do any work that may cause this 3 Removing the ball screw with the flange Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 46 2 Continues on n...

Страница 301: ...l auxiliary shaft into the ball screw shaft 4 xx2300000562 xx2300000563 Mark the location of the ball screw shaft grooves on the ball screw lower nut 5 Continues on next page Product manual IRB 930 301 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 3 Replacing the pulley on the ball screw lower position Continued ...

Страница 302: ...w nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this 7 Removing the pulley on the ball screw lower position Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read ...

Страница 303: ...he unit read the safety information in section The unit is sensitive to ESD on page 46 1 Screws Hex socket head cap screw M5x25 12 9 Lafre 2C2B FC6 9 6 pcs Refit the pulley to the ball screw carefully CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this 2 Tightening torque 6 Nm 3 xx230000056...

Страница 304: ...ly xx2300000563 Screws Hex socket head cap flange screw 3HAB3412 520 M5x16 12 9 Lafre 2C2B FC6 9 PrO COat111 5 pcs Refit the screws and washers to the secure the ball screw flange to the outer arm Tip Pre tighten the screws at 0 5Nm and slide the ball screw up and down for five times Then tighten the screws at 6 Nm 3 to secure it 2 Tightening torque 6 Nm 3 xx2300000559 Continues on next page 304 P...

Страница 305: ...f the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this Note Be careful with the orientation of the mechanical stopper The flat side is on the upper side Screws Hex socket head cap screw M4x14 12 9 Lafre 2C2B FC6 9 2 pcs Refit the screws 2 Tightening torque 6 Nm For robots with protection class IP30 option 3350 300 xx2300000556 Continues on next page Produ...

Страница 306: ...6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown in following steps 3 Tightening torque 2 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000487 Remove the screw 4 Concluding procedure Note Action Calibration...

Страница 307: ...performing the first test run See Test run after installation maintenance or repair on page 55 2 Product manual IRB 930 307 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 3 Replacing the pulley on the ball screw lower position Continued ...

Страница 308: ...IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC081796 001 Ball screw 3HAC081797 001 Ball screw long stroke 3HAC081785 001 Ball screw flange 3HAC081787 001 Rubber bumper 3HAC081786 001 Mechanical stopper 3HAC081703 001 Pulley on the ball screw upper po sition Continues on next page 308 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All ri...

Страница 309: ...routine to use for calibrating the robot Reference calibration External cable packages DressPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence cal...

Страница 310: ... lay down in any situation the grease may come out from gearbox 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Removing the process hub screws Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 Re...

Страница 311: ...DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 DANGER Make sure that the ball screw is supported with something The sudden drop of the ball screw due the lost of the axis 3 motor may cause danger 2 xx2300000557 Loosen the screws of the axis 3 motor sub as sembly to let the axis 3 timing belt free 3 Continues on next page Product manual ...

Страница 312: ...the axis 4 timing belt be free 2 Release the timing belt 3 Removing the lower mechanical stopper Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 xx2300000556 Continues on next page 312 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB ...

Страница 313: ...ressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 46 2 xx2300000559 Remove the screws and washers on the ball screw flange 3 IRB 930 auxiliary shaft 3HAC087847 001 Insert the special tool auxiliary shaft into the ball screw shaft 4 xx2300000562 Continues on next page...

Страница 314: ...ial tool with some thing Or the ball screw lower nut will be destroyed 6 xx2300000565 Lay down the ball screw assembly CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this 7 Removing the pulley on the ball screw lower position Note Action DANGER Make sure that all supplies for electrical pow...

Страница 315: ...ssure are turned off 1 IRB 930 auxiliary shaft 3HAC087847 001 Remove the screws on the lower nut to the outer arm Tip Hold the ball screw to prevent it from dropping Or the ball screw may be destroyed 2 xx2300000568 Hold the ball screw lower nut with the special tool to take them out of the outer arm carefully Tip Hold the lower part of the ball screw to prevent it from dropping Or the ball screw ...

Страница 316: ...rew nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this 4 Removing the ball screw flange Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000590 Remove the screws 2 Remove the ball screw flange from the ball screw shaft CAUTION If the ball...

Страница 317: ...he ball screw lower nut 1 IRB 930 auxiliary shaft 3HAC087847 001 Insert the special tool into the ball screw shaft 2 xx2300000592 xx2300000593 Move the ball screw nut from the ball screw shaft to the special tool 3 Continues on next page Product manual IRB 930 317 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 4 Replacing the ball screw Continued ...

Страница 318: ... the lower nut to the outer arm 3 Refitting the flange to the ball screw shaft Note Action Screws Hex socket head cap screw M5x16 12 9 Lafre 2C2B FC6 9 6 pcs Refit the ball screw flange to the ball screw shaft CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this 1 Tightening torque 6 Nm xx23...

Страница 319: ...crew shaft the ball screw is destroyed Be careful when you do any work that may cause this 2 Tightening torque 6 Nm 3 xx2300000567 Refit the screws Tip Secure with the stopping tool to prevent the pulley from rotating 3 Refitting the pulley on the ball screw upper position Note Action ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in s...

Страница 320: ...the screws Tip Secure with the stopping tool to prevent the pulley from rotating 3 Refitting the ball screw with the flange Note Action IRB 930 auxiliary shaft 3HAC087847 001 Refit the ball screw assembly to the outer arm Tip Make sure the marked location is aligned with the ball screw shaft grooves 1 xx2300000564 CAUTION With the inserting of the ball screw shaft remove the special tool auxiliary...

Страница 321: ... IP30 option 3350 300 Refit the mechanical stopper to the ball screw at 52 mm position to the lower of the ball screw Tip Make sure that the limit block opening gap is aligned with the ball screw origin point 1 xx2300000561 CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this Note Be careful...

Страница 322: ...9 Lafre 2C2B FC6 9 14 pcs Refit the cover 1 Refit the screws 2 Tightening torque 2 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000488 Securing the process hub to outer arm cover Note Action Install a screw to the reserved hole on the process hub 1 Grip the screw to install the process hub 2 Continues on next page 322 Product manual IRB 930 3HAC086009 001 Revision A Copyrigh...

Страница 323: ...ening torque 2 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000487 Remove the screw 4 Concluding procedure Note Action Calibration is detailed in section Calibration on page 553 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 55 2 Product manual IRB 930 3...

Страница 324: ...ee the latest spare parts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC081705 001 Timing belt A3 Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Continues on next page 324 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Re...

Страница 325: ...the robot Fine calibration All external cable packages DressPack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values These val ues are to be used after the rep...

Страница 326: ...he robot lay down in any situation the grease may come out from gearbox 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Removing the process hub screws Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class...

Страница 327: ...er arm and remove the cover 2 xx2300000488 Disconnecting the connectors for axis 2 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000490 Disconnect the connectors R2 MP2 R2 FB2 2 Continues on next page Product manual IRB 930 327 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 5 Repla...

Страница 328: ...es for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000491 Disconnect the connectors R2 MP3 R2 FB3 2 xx2300000494 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Continues on next ...

Страница 329: ... arm cable ferrule and bracket Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000496 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in t...

Страница 330: ...turned off 1 DANGER Make sure that the ball screw is supported with something The sudden drop of the ball screw due the lost of the axis 3 motor may cause danger 2 xx2300000594 Remove the screws 3 Remove the axis 3 motor sub assembly 4 Releasing the ball screw with the flange Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Co...

Страница 331: ...p the status When the special tool is totally inserted to the lower nut of the ball screw support the special tool with some thing Or the ball screw lower nut will be destroyed 4 Removing the axis 3 timing belt Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 DANGER Make sure that the ball screw is supported with something The...

Страница 332: ...1 xx2300000596 Screws Hex socket head cap flange screw 3HAB3412 520M5x16 12 9 Lafre 2C2B FC6 9 PrO COat111 5 pcs Refit the screws and washers to the secure the ball screw flange to the outer arm Tip Pre tighten the screws at 0 5Nm and slide the ball screw up and down for five times Then tighten the screws at 6 Nm 3 to secure it 3 Tightening torque 6 Nm 3 xx2300000559 Continues on next page 332 Pro...

Страница 333: ...cket head cap flange screw 3HAB3412 520 M5x16 12 9 Lafre 2C2B FC6 9 PrO COat111 6 pcs Refit the screws and washers without fully tightened 2 xx2300000557 Used belt 139 149 Hz Use a sonic tension meter to measure the timing belt tension 3 New belt 109 119 Hz If the timing belt tension does not meet the require ment readjust the motor with the adjusting screw 4 Continues on next page Product manual ...

Страница 334: ...ex socket head cap screw M3x8 12 9 Lafre 2C2B FC6 9 2 pcs Secure the cable ferrule to the bracket with the screws Tip The air hoses should face the process hub side 3 Tightening torque 2 4 Nm 10 xx2300000496 Tip The position with wrapped tape is the marked position for the cable ferrule Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Tip Align ...

Страница 335: ...00000492 Reconnect the connectors R2 MP4 R2 FB4 Tip See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 1 Route the cabling on the axis 4 motor CAUTION Correct cable routing is highly important If the cables are ...

Страница 336: ...x2300000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling on the axis 3 motor CAUTION Correct cable routing is highly important If the cables are r...

Страница 337: ...300000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling behind the axis 2 motor CAUTION Correct cable routing is highly important If the cables are...

Страница 338: ...re 2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown in following steps 3 Tightening torque 2 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000487 Remove the screw 4 Concluding procedure Note Action C...

Страница 339: ...e met when performing the first test run See Test run after installation maintenance or repair on page 55 2 Product manual IRB 930 339 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 5 Replacing the axis 3 timing belt Continued ...

Страница 340: ...ee the latest spare parts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC081706 001 Timing belt A4 Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Continues on next page 340 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Re...

Страница 341: ...the robot Fine calibration All external cable packages DressPack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values These val ues are to be used after the rep...

Страница 342: ... transporta tion always keep it straight If the robot lay down in any situation the grease may come out from gearbox 2 xx2300000486 Jog all axes to zero position 3 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 4 Removing the process hub screws Note Action DANGER Make sure that all supplies for electrical p...

Страница 343: ...sure are turned off 1 For robots with protection class IP30 Remove the screws on the cover of the outer arm and remove the cover 2 xx2300000488 Disconnecting the connectors for axis 2 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 930 343 3HAC086009 001 Revision A Copyright 202...

Страница 344: ...ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 3 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000491 Disconnect the connectors R2 MP3 R2 FB3 2 Continues on next page 344 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5...

Страница 345: ... R2 FB4 1 xx2300000495 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 Removing the base bracket Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned...

Страница 346: ...plies for electrical power hydraulic pressure and air pressure are turned off 1 DANGER Make sure that the ball screw is supported with something The sudden drop of the ball screw due the lost of the axis 3 motor may cause danger 2 xx2300000594 Remove the screws 3 Remove the axis 3 motor sub assembly 4 Removing the axis 4 motor sub assembly Note Action DANGER Make sure that all supplies for electri...

Страница 347: ...sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 46 2 xx2300000559 Remove the screws and washers on the ball screw flange 3 Continues on next page Product manual IRB 930 347 3HAC086009 001 Revis...

Страница 348: ...xis 3 timing belt Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 DANGER Make sure that the ball screw is supported with something The sudden drop of the ball screw due the lost of the axis 3 motor may cause danger 2 Remove the axis 3 timing belt 3 Removing the axis 4 timing belt Note Action DANGER Make sure that all supplies...

Страница 349: ...crew with the flange assembly a little bit to let the timing belts can go in 1 Timing belt A4 Insert the timing belt to the pulley on the ball screw 2 3HAC081706 001 xx2300000604 Inserting the axis 3 timing belt through the ball screw flange Note Action Hold the ball screw with the flange assembly a little bit to let the timing belts can go in 1 Continues on next page Product manual IRB 930 349 3H...

Страница 350: ...re tighten the screws at 0 5Nm and slide the ball screw up and down for five times Then tighten the screws at 6 Nm 3 to secure it 3 Tightening torque 6 Nm 3 xx2300000559 Refitting the axis 4 motor sub assembly Note Action xx2300000597 Refit the motor with flange to the outer arm Tip Move the internal harness out of the way 1 Continues on next page 350 Product manual IRB 930 3HAC086009 001 Revision...

Страница 351: ...t fully tightened 3 xx2300000558 Used belt 312 333 Hz Use a sonic tension meter to measure the timing belt tension 4 New belt 88 4 92 7 Hz If the timing belt tension does not meet the require ment readjust the motor with the adjusting screw 5 Tightening torque 6 Nm 10 Tighten the motor screws when the timing belt meets the requirement 6 Continues on next page Product manual IRB 930 351 3HAC086009 ...

Страница 352: ...cket head cap flange screw 3HAB3412 520 M5x16 12 9 Lafre 2C2B FC6 9 PrO COat111 6 pcs Refit the screws and washers without fully tightened 2 xx2300000557 Used belt 139 149 Hz Use a sonic tension meter to measure the timing belt tension 3 New belt 109 119 Hz If the timing belt tension does not meet the require ment readjust the motor with the adjusting screw 4 Continues on next page 352 Product man...

Страница 353: ...visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation Refit the base bracket to the base and secure with the screws 3 Reconnecting the connectors for axis 4 motor Note Action xx2300000495 Insert the female head of the connectors to the bracket accordingly Tip The mistake proofing measure has been applied to the conn...

Страница 354: ...s to the bracket accordingly Tip The mistake proofing measure has been applied to the connectors the connectors may be dam aged if excessive force is used Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 1 xx2300000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings on th...

Страница 355: ...stration They are still ex isting inside the cable ferrule in the actual situ ation 1 xx2300000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling be...

Страница 356: ...re 2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown in following steps 3 Tightening torque 2 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000487 Remove the screw 4 Concluding procedure Note Action C...

Страница 357: ...e met when performing the first test run See Test run after installation maintenance or repair on page 55 2 Product manual IRB 930 357 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 6 Replacing the axis 4 timing belt Continued ...

Страница 358: ...930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC087307 001 Cable arm 3HAC081802 001 A2 sealing ring 3HAC087317 001 Cable arm cover Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Continues on next page 358 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All ...

Страница 359: ...e calibration All external cable packages DressPack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values These val ues are to be used after the repair proced ur...

Страница 360: ...t straight If the robot lay down in any situation the grease may come out from gearbox 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Removing the process hub screws Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with p...

Страница 361: ... and remove the cover 2 xx2300000488 Disconnecting the air hoses C1 cabling and C2 cabling if equipped Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Disconnect the air hoses from the L shaped con nectors 2 Continues on next page Product manual IRB 930 361 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Re...

Страница 362: ... The connector clip has to be pressed 1 and pushed forward 2 to separate the R1 C2 for C2 cabling xx1800002943 xx2300000544 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 5 Continues on next page 362 Product manu...

Страница 363: ...bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 3 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 930 363 3HAC086009 ...

Страница 364: ...ness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 4 motor Note Action xx2300000492 Disconnect the axis 4 motor connectors R2 MP4 R2 FB4 1 Continues on next page 364 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 7 Replacing the cable arm Conti...

Страница 365: ...pplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000543 Disconnect the connector R2 PB 2 xx2300000545 Snap loose and remove the female head of the connector from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Continues on next page P...

Страница 366: ...and air pressure are turned off 1 xx2300000496 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 xx2300000497 Remove the screws on the bracket Note The harness are not visible due to the clean...

Страница 367: ... 2 Removing the axis 1 cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 Remove the cover 3 xx2300000498 Continues on next page Product manual IRB 930 367 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 7 Replacing the ...

Страница 368: ...emove the cover 3 xx2300000499 Removing the bracket of the cable arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000506 Remove the bracket from the cable arm to release the cable 2 Continues on next page 368 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 7 Replac...

Страница 369: ...ip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting For underneath outlet cable ver sion xx2300000612 Pull the main harness out of the cable arm from the inner arm 3 Removing the cable arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page P...

Страница 370: ...ed off 1 xx2300000601 Remove the screws locking the sealing ring to the cable arm 2 Remove the sealing ring 3 Refitting the cable arm Use these procedures to refit the cable arm Refitting the sealing ring Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 370 Product manual IRB 930 3HAC086009 001 Revision ...

Страница 371: ... arm to the inner arm and outer arm 2 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 8 pcs Secure the cable arm to the outer arm with the screws 3 Tightening torque 3 3 Nm2 4 Nm 3 xx2300000516 Inserting the main harness through the inner arm position Note Action Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs x 2 Secure the cable with the cable ferrule to the two b...

Страница 372: ...0510 For underneath outlet cable ver sion xx2300000610 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs Secure the bracket to the inner arm 3 Tightening torque 2 4 Nm 10 xx2300000508 Continues on next page 372 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 7 Replacing the cable arm Continued ...

Страница 373: ...e masking tape 1 xx2300000510 For underneath outlet cable ver sion xx2300000610 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs Secure the bracket to the inner arm 2 Tightening torque 2 4 Nm 10 xx2300000506 Continues on next page Product manual IRB 930 373 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 7 Replacing the cable arm Continued ...

Страница 374: ... pcs Secure the cable ferrule to the bracket with the screws Tip The air hoses should face the process hub side 3 Tightening torque 2 4 Nm 10 xx2300000496 Tip The position with wrapped tape is the marked position for the cable ferrule Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Tip Align all the cable ferrules so that the cable is in a natu...

Страница 375: ... xx2300000492 Reconnect the connectors R2 MP4 R2 FB4 Tip See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 1 Route the cabling on the axis 4 motor CAUTION Correct cable routing is highly important If the cables...

Страница 376: ...n 1 xx2300000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling on the axis 3 motor CAUTION Correct cable routing is highly important If the cables ...

Страница 377: ...1 xx2300000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling behind the axis 2 motor CAUTION Correct cable routing is highly important If the cable...

Страница 378: ... markings on the connectors for help to find the corresponding connector 2 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the cables are routed incorrectly the cables can be damaged 3 Reconnecting the air hoses CP CS cabling and Ethernet cabling if equipped Note Action Route the air hoses on the process hub behind the bracket CAUTION C...

Страница 379: ...ir hoses with the same number connect to the same L shaped connector 3 For robots with C2 cabling Reconnect the connector R1 C2 Tip See the number markings on the air hoses for help to find the corresponding air hoses The air hoses with the same number connect to the same L shaped connector 4 Secure the C2 cabling to the C2 bracket with the cable straps 5 Reconnect the air hoses in a cross pattern...

Страница 380: ...rm cover Note Action Install a screw to the reserved hole on the process hub 1 Grip the screw to install the process hub 2 Screws Hex socket head cap screw M4x12 12 9 Lafre 2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown...

Страница 381: ...rm cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 7 pcs Refit the cover 2 Refit the screws 3 Tightening torque 6 Nm 3 For robots with protection class IP30 option 3350 300 xx2300000499 Continues on next page Product manual IRB 930 381 3HAC086009 001 Revision ...

Страница 382: ... the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 55 2 382 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 7 Replacing the cable arm Continued ...

Страница 383: ...Spare part 3HAC087309 001 Outer arm 3HAC087313 001 Outer arm cover 3HAC087314 001 Outer arm bottom cover 3HAC081794 001 Outer arm bracket 3HAC081704 001 Pulley on the ball screw lower pos ition 3HAC081705 001 Timing belt A3 3HAC081706 001 Timing belt A4 Used for axis 3 axis 4 motor flange and adjusting block screw nut adaptor 3HAB3412 520 Hex socket head cap flange Continues on next page Product m...

Страница 384: ... to use for calibrating the robot Reference calibration External cable packages DressPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibratio...

Страница 385: ...aight If the robot lay down in any situation the grease may come out from gearbox 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Draining oil of axis 2 gearbox Note Action WARNING Handling gearbox oil involves several safety risks see Gearbox lubricants oil or grease on page 30 1 CAUTION The gearbox can...

Страница 386: ...aining 5 WARNING Used oil is hazardous material and must be disposed of in a safe way See Decom missioning on page 585 for more informa tion 6 Note Draining is time consuming Elapsed time varies depending on the temperature of the oil Drain the gearbox oil 7 Continues on next page 386 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 8 Replacing t...

Страница 387: ... and air pressure are turned off 1 For robots with protection class IP30 Remove the screws locking the process hub 2 xx2300000487 Push the process hub to the outer arm 3 Removing the cover of the outer arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 930 387 3HAC086009 001 Revision...

Страница 388: ...ng and C2 cabling if equipped Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Disconnect the air hoses from the L shaped con nectors 2 Continues on next page 388 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 8 Replacing the outer arm Continued ...

Страница 389: ... The connector clip has to be pressed 1 and pushed forward 2 to separate the R1 C2 for C2 cabling xx1800002943 xx2300000544 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 5 Continues on next page Product manual I...

Страница 390: ...bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 3 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 390 Product manual IRB 930 3HAC086009 ...

Страница 391: ...ness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 4 motor Note Action xx2300000492 Disconnect the axis 4 motor connectors R2 MP4 R2 FB4 1 Continues on next page Product manual IRB 930 391 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 8 Replacing the outer arm Conti...

Страница 392: ...pplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000543 Disconnect the connector R2 PB 2 xx2300000545 Snap loose and remove the female head of the connector from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Continues on next page 3...

Страница 393: ...and air pressure are turned off 1 xx2300000496 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 xx2300000497 Remove the screws on the bracket Note The harness are not visible due to the clean...

Страница 394: ...er 3 xx2300000498 Removing the cable arm cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 Remove the cover 3 xx2300000499 Continues on next page 394 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 ...

Страница 395: ...acket from the cable arm to release the cable 2 Removing the main harness from the cable arm position Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 930 395 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 8 Replacing the outer arm Continued ...

Страница 396: ...sion xx2300000612 Pull the main harness out of the cable arm from the inner arm 3 Removing the cable arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000516 Remove the screws locking the cable arm to the outer arm 2 Remove the cable arm by pulling out from the in ner arm bearing 3 Continues on next page 396 Product m...

Страница 397: ...he inner arm 2 xx2300000517 Remove the outer arm assembly slightly 3 xx2300000603 Remove the gear gasket on the axis 2 gear unit 4 Removing the axis 2 motor sub assembly Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 930 397 3HAC086009 001 Revision A Copyright 2023 ABB All rights res...

Страница 398: ...crew is supported with something The sudden drop of the ball screw due the lost of the axis 3 motor may cause danger 2 xx2300000594 Remove the screws 3 Remove the axis 3 motor sub assembly 4 Removing the axis 4 motor sub assembly Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 398 Product manual IRB 930...

Страница 399: ...ub assembly 4 Removing the lower mechanical stopper Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 xx2300000556 Continues on next page Product manual IRB 930 399 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 8 Replacing ...

Страница 400: ...pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 46 2 xx2300000559 Remove the screws and washers on the ball screw flange 3 IRB 930 auxiliary shaft 3HAC087847 001 Insert the special tool auxiliary shaft into the ball screw shaft 4 xx2300000562 Continues on next pag...

Страница 401: ...rt the special tool with some thing Or the ball screw lower nut will be destroyed 6 xx2300000565 Lay down the ball screw assembly CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this 7 Removing the axis 3 timing belt Note Action DANGER Make sure that all supplies for electrical power hydraul...

Страница 402: ...is 4 motor sub as sembly to let the axis 4 timing belt be free 2 Remove the timing belt 3 Removing the pulley on the ball screw lower position Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sen...

Страница 403: ...n the lower nut to the outer arm Tip Hold the ball screw to prevent it from dropping Or the ball screw may be destroyed 2 xx2300000568 Hold the ball screw lower nut with the special tool to take them out of the outer arm carefully Tip Hold the lower part of the ball screw to prevent it from dropping Or the ball screw may be destroyed 3 CAUTION If the ball screw nut or ball screw spline nut go out ...

Страница 404: ...ar to the outer arm 2 Remove the gear unit 3 xx2300000606 Refitting the outer arm Use these procedures to refit the outer arm Refitting the axis 2 gear unit sub assembly to the outer arm Note Action CAUTION Whenever parting mating motor and gearbox the gears may be damaged if excessive force is used 1 Continues on next page 404 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB Al...

Страница 405: ...t Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M5x16 12 9 Lafre 2C2B FC6 9 6 pcs Put the ball screw lower nut to the outer arm carefully CAUTION Make sure the ball screw nut works fluently 2 Tightening torque 6 Nm 3 xx2300000568 Secure the screws on the lower nut to the outer arm 3 Continue...

Страница 406: ...2 xx2300000567 Remove the screws and washers 3 Remove the pulley carefully CAUTION If the ball screw nut or ball screw spline nut go out of the screw shaft the ball screw is destroyed Be careful when you do any work that may cause this 4 Placing the axis 3 and axis 4 timing belts into the outer arm Note Action Place the axis 3 and axis 4 timing belts into the outer arm 1 Continues on next page 406...

Страница 407: ...w shaft carefully xx2300000563 Screws Hex socket head cap flange screw 3HAB3412 520 M5x16 12 9 Lafre 2C2B FC6 9 PrO COat111 5 pcs Refit the screws and washers to the secure the ball screw flange to the outer arm Tip Pre tighten the screws at 0 5Nm and slide the ball screw up and down for five times Then tighten the screws at 6 Nm 3 to secure it 2 Tightening torque 6 Nm 3 xx2300000559 Continues on ...

Страница 408: ... screw is destroyed Be careful when you do any work that may cause this Note Be careful with the orientation of the mechanical stopper The flat side is on the upper side Screws Hex socket head cap screw M4x14 12 9 Lafre 2C2B FC6 9 2 pcs Refit the screws 2 Tightening torque 6 Nm For robots with protection class IP30 option 3350 300 xx2300000556 Refitting the axis 2 motor sub assembly Note Action Re...

Страница 409: ...sub assembly Note Action xx2300000597 Refit the motor with flange to the outer arm Tip Move the internal harness out of the way 1 Timing belt A4 Refit the timing belt to the pulley on the ball screw and the motor Ensure that the belt runs correctly in the grooves 2 3HAC081706 001 xx2300000588 Continues on next page Product manual IRB 930 409 3HAC086009 001 Revision A Copyright 2023 ABB All rights ...

Страница 410: ...lt tension does not meet the require ment readjust the motor with the adjusting screw 5 Tightening torque 6 Nm 10 Tighten the motor screws when the timing belt meets the requirement 6 Refitting the axis 3 motor sub assembly Note Action xx2300000594 Refit the motor with flange to the outer arm Tip Move the internal harness out of the way Continues on next page 410 Product manual IRB 930 3HAC086009 ...

Страница 411: ...ter to measure the timing belt tension 3 New belt 109 119 Hz If the timing belt tension does not meet the require ment readjust the motor with the adjusting screw 4 Tightening torque 6 Nm 10 Tighten the motor flange screws when the timing belt meets the requirement 5 Refitting the outer arm to the inner arm Note Action CAUTION Whenever parting mating motor and gearbox the gears may be damaged if e...

Страница 412: ...0 12 9 Gleitmo 603 Geomet 500 3 pcs Tightening torque 10 Nm Refit the screws Note The two screw holes under the axis 2 belt location are left empty 4 xx2300000517 Refitting the cable arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Refit the cable arm to the inner arm and outer arm 2 Continues on next page 412 Product manu...

Страница 413: ...afre 2C2B FC6 9 2 pcs x 2 Secure the cable with the cable ferrule to the two brackets in inner arm 1 Tightening torque 2 4 Nm 10 For rear outlet cable version Insert the main harness into the cable arm through the inner arm Tip Wrap the connectors with the masking tape 2 xx2300000510 For underneath outlet cable ver sion xx2300000610 Continues on next page Product manual IRB 930 413 3HAC086009 001 ...

Страница 414: ...the cable arm Note Action For rear outlet cable version Insert the main harness into the outer arm through the cable arm Tip Wrap the connectors with the masking tape 1 xx2300000510 For underneath outlet cable ver sion xx2300000610 Continues on next page 414 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 8 Replacing the outer arm Continued ...

Страница 415: ...head cap screw M4x10 12 9 Lafre 2C2B FC6 9 4 pcs Refit the bracket Tip Do not secure it with the screws before the cable ferrule installed well 2 Tightening torque 2 4 Nm 10 xx2300000497 Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation Continues on next page Product manual IRB 930 415 3...

Страница 416: ...e not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation Reconnecting the connectors for axis 4 motor Note Action xx2300000495 Insert the female head of the connectors to the bracket accordingly Tip The mistake proofing measure has been applied to the connectors the connectors may be dam aged if excessive force i...

Страница 417: ...ectors to the bracket accordingly Tip The mistake proofing measure has been applied to the connectors the connectors may be dam aged if excessive force is used Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 1 xx2300000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings ...

Страница 418: ...illustration They are still ex isting inside the cable ferrule in the actual situ ation 1 xx2300000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cablin...

Страница 419: ... markings on the connectors for help to find the corresponding connector 2 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the cables are routed incorrectly the cables can be damaged 3 Reconnecting the air hoses CP CS cabling and Ethernet cabling if equipped Note Action Route the air hoses on the process hub behind the bracket CAUTION C...

Страница 420: ...ir hoses with the same number connect to the same L shaped connector 3 For robots with C2 cabling Reconnect the connector R1 C2 Tip See the number markings on the air hoses for help to find the corresponding air hoses The air hoses with the same number connect to the same L shaped connector 4 Secure the C2 cabling to the C2 bracket with the cable straps 5 Reconnect the air hoses in a cross pattern...

Страница 421: ...rm cover Note Action Install a screw to the reserved hole on the process hub 1 Grip the screw to install the process hub 2 Screws Hex socket head cap screw M4x12 12 9 Lafre 2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown...

Страница 422: ...rm cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 7 pcs Refit the cover 2 Refit the screws 3 Tightening torque 6 Nm 3 For robots with protection class IP30 option 3350 300 xx2300000499 Continues on next page 422 Product manual IRB 930 3HAC086009 001 Revision ...

Страница 423: ...NG Overfilling of gearbox lubricant can lead to internal over pressure inside the gearbox which in turn may damage seals and gaskets completely press out seals and gaskets prevent the robot from moving freely 4 Type of oil and total amount is detailed in Technical reference manual Lubrication in gearboxes Refill the gearbox with oil Note The amount of oil to be filled depends on the amount previou...

Страница 424: ...n Calibration is detailed in section Calibration on page 553 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 55 2 424 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 6 8 Replacing the outer arm Continued ...

Страница 425: ... the latest spare parts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part Includes o ring 3HAC061327 037 3HAC087303 001 Axis 1 motor Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Continues on next page Product manual IRB 930 425 3HAC086009 001 Revision A Copyright 2023 A...

Страница 426: ...calibration All external cable packages DressPack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values These val ues are to be used after the repair proced ure ...

Страница 427: ...t during the transporta tion always keep it straight If the robot lay down in any situation the grease may come out from gearbox 2 xx2300000486 Jog all axes to zero position 3 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 4 Removing the SMB cover Note Action DANGER Make sure that all supplies for electrica...

Страница 428: ...upplies for electrical power hydraulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 46 2 Cut the strips 3 xx2100000945 Disconnect the connectors SMB P7 SMB J1 SMB J2 Tip Take photos of the connector and cable position before disconnecting them ...

Страница 429: ...rews on the base plate 4 For robots with protection class IP30 option 3350 300 Remove the base plate 5 xx2300000500 For underneath outlet cable ver sion For robot with underneath outlet cable version remove the screws on the rear plate 6 For robots with protection class IP30 option 3350 300 Remove the rear plate 7 xx2300000608 Continues on next page Product manual IRB 930 429 3HAC086009 001 Revisi...

Страница 430: ...e bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Removing the base bracket Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 430 Product manual IRB 930 3HAC086009 001 Revision A Cop...

Страница 431: ...te Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000512 Remove the screws and washers 2 Remove the motor 3 Refitting the axis 1 motor sub assembly Use these procedures to refit the axis 1 motor sub assembly Refitting the axis 1 motor sub assembly Note Action Replace the o ring if needed 1 Put the timing belt into the pulle...

Страница 432: ...ctors to the bracket accordingly Tip The mistake proofing measure has been applied to the connectors the connectors may be dam aged if excessive force is used Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 1 xx2300000504 Reconnect the connectors R2 MP1 R2 FB1 Tip See the number markin...

Страница 433: ...w M4x10 12 9 Lafre 2C2B FC6 9 4 pcs Refit the cable ferrule to the bracket Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Tightening torque 2 4 Nm 10 xx2300000503 Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation Refit the base brack...

Страница 434: ... routing is highly important If the cables are routed and secured incorrectly the cables can be damaged 2 Refitting the SMB cover Note Action xx2100000945 Reconnect the connectors SMB P7 SMB J1 SMB J2 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 1 Continues on next page 434 Product manual IRB 930 3HAC086009 001 Revision A Co...

Страница 435: ...rew M4x10 12 9 Lafre 2C2B FC6 9 6 pcs Tightening torque 2 6 Nm xx2300000489 Refitting the base plate rear plate Note Action Apply grease to the internal harness cover all moving area of the harness 1 Continues on next page Product manual IRB 930 435 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Replacing the axis 1 motor sub assembly Continued ...

Страница 436: ...or underneath outlet cable ver sion For robots with protection class IP30 option 3350 300 xx2300000608 Refit the robot back to the ground 4 Screws Hex socket head cap screw M12x35 12 9 Gleitmo 603 Geomet 500 4 pcs Secure with the screws 5 Steel Washers 24 mm x 13 mm x 2 5 mm 4 pcs Tightening torque 56 Nm 10 Concluding procedure Note Action Calibration is detailed in section Calibration on page 553...

Страница 437: ...t when performing the first test run See Test run after installation maintenance or repair on page 55 2 Product manual IRB 930 437 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 1 Replacing the axis 1 motor sub assembly Continued ...

Страница 438: ...latest spare parts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC087311 001 Axis 2 motor 3HAC060261 001 Resolver cover Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Continues on next page 438 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All...

Страница 439: ...calibration All external cable packages DressPack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values These val ues are to be used after the repair proced ure ...

Страница 440: ...ing the transporta tion always keep it straight If the robot lay down in any situation the grease may come out from gearbox 2 xx2300000486 Jog all axes to zero position 3 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 4 Removing the process hub screws Note Action DANGER Make sure that all supplies for elect...

Страница 441: ...e are turned off 1 For robots with protection class IP30 Remove the screws on the cover of the outer arm and remove the cover 2 xx2300000488 Disconnecting the connectors for axis 2 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 930 441 3HAC086009 001 Revision A Copyright 2023 A...

Страница 442: ... isting inside the cable ferrule in the actual situ ation 3 Removing the axis 2 motor protection cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000550 Remove the protection cover on the motor 2 Continues on next page 442 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Rep...

Страница 443: ...edures to refit the axis 2 motor sub assembly Refitting the axis 2 motor sub assembly Note Action Replace the o ring if needed 1 Screws Hex socket head cap screw M6x20 12 9 Gleitmo 603 Geomet 500 4 pcs Refit the motor 2 Refit the screws and washers 3 Washers Spring washer conical 11x5 3x1 2 Steel 4 pcs Tightening torque 2 3 Nm 10 xx2300000605 Continues on next page Product manual IRB 930 443 3HAC0...

Страница 444: ...ed if excessive force is used Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 1 xx2300000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors a...

Страница 445: ...ction Install a screw to the reserved hole on the process hub 1 Grip the screw to install the process hub 2 Screws Hex socket head cap screw M4x12 12 9 Lafre 2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown in following s...

Страница 446: ...alibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 55 2 446 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 2 Replacing the axis 2 motor sub assembly Continued ...

Страница 447: ...he latest spare parts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part 3HAC087312 001 Axis 3 motor with pulley A3 3HAC081705 001 Timing belt A3 Used for axis 3 axis 4 motor flange and adjusting block screw nut adaptor 3HAB3412 520 Hex socket head cap flange Continues on next page Product manual IRB 930 447 3HAC086009 001 Revision A Copyright 2023 ABB All ri...

Страница 448: ... External cable packages DressPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create...

Страница 449: ...ht If the robot lay down in any situation the grease may come out from gearbox 2 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 3 Removing the process hub screws Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protectio...

Страница 450: ...arm and remove the cover 2 xx2300000488 Disconnecting the connectors for axis 2 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000490 Disconnect the connectors R2 MP2 R2 FB2 2 Continues on next page 450 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 3 Replacin...

Страница 451: ...or electrical power hydraulic pressure and air pressure are turned off 1 xx2300000491 Disconnect the connectors R2 MP3 R2 FB3 2 xx2300000494 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Continues on next page...

Страница 452: ...m cable ferrule and bracket Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000496 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the ...

Страница 453: ...f 1 DANGER Make sure that the ball screw is supported with something The sudden drop of the ball screw due the lost of the axis 3 motor may cause danger 2 xx2300000594 Remove the screws 3 Remove the axis 3 motor sub assembly 4 Separating the flange from axis 3 motor sub assembly Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1...

Страница 454: ...assembly Note Action Screws Hex socket head cap screw M5x16 12 9 Lafre 2C2B FC6 9 4 pcs Install the flange to the motor and secure with screws 1 Washers Plain washer 11x5 3x1 2 Steel 4 pcs Tightening torque 2 3 Nm 10 3HAB3409 212 xx2300000607 Continues on next page 454 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 3 Replacing the axis 3 motor ...

Страница 455: ... head cap flange screw 3HAB3412 520 M5x16 12 9 Lafre 2C2B FC6 9 PrO COat111 6 pcs Refit the screws and washers without fully tightened 2 xx2300000557 Used belt 139 149 Hz Use a sonic tension meter to measure the timing belt tension 3 New belt 109 119 Hz If the timing belt tension does not meet the require ment readjust the motor with the adjusting screw 4 Continues on next page Product manual IRB ...

Страница 456: ...ocket head cap screw M3x8 12 9 Lafre 2C2B FC6 9 2 pcs Secure the cable ferrule to the bracket with the screws Tip The air hoses should face the process hub side 3 Tightening torque 2 4 Nm 10 xx2300000496 Tip The position with wrapped tape is the marked position for the cable ferrule Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Tip Align all ...

Страница 457: ...00492 Reconnect the connectors R2 MP4 R2 FB4 Tip See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 1 Route the cabling on the axis 4 motor CAUTION Correct cable routing is highly important If the cables are rou...

Страница 458: ...00000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling on the axis 3 motor CAUTION Correct cable routing is highly important If the cables are rout...

Страница 459: ...000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling behind the axis 2 motor CAUTION Correct cable routing is highly important If the cables are ro...

Страница 460: ...2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown in following steps 3 Tightening torque 2 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000487 Remove the screw 4 Concluding procedure Note Action Cali...

Страница 461: ...t when performing the first test run See Test run after installation maintenance or repair on page 55 2 Product manual IRB 930 461 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 3 Replacing the axis 3 motor sub assembly Continued ...

Страница 462: ...BB Business Portal www abb com myABB Note Article number Spare part PMSM MT45 1 3HAC060157 001 Axis 4 motor 3HAC081706 001 Timing belt A4 3HAC081795 001 CPCS bracket Used for axis 3 axis 4 motor flange and adjusting block screw nut adaptor 3HAB3412 520 Hex socket head cap flange Used for axis 4 pulley 3HAB3412 435 Hex socket head cap flange Continues on next page 462 Product manual IRB 930 3HAC086...

Страница 463: ... External cable packages DressPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create...

Страница 464: ...ing the transporta tion always keep it straight If the robot lay down in any situation the grease may come out from gearbox 2 xx2300000486 Jog all axes to zero position 3 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 4 Removing the process hub screws Note Action DANGER Make sure that all supplies for elect...

Страница 465: ...e are turned off 1 For robots with protection class IP30 Remove the screws on the cover of the outer arm and remove the cover 2 xx2300000488 Disconnecting the connectors for axis 2 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 930 465 3HAC086009 001 Revision A Copyright 2023 A...

Страница 466: ...isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 3 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000491 Disconnect the connectors R2 MP3 R2 FB3 2 Continues on next page 466 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Re...

Страница 467: ...0000495 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 Removing the outer arm cable ferrule and bracket Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure ar...

Страница 468: ...ents of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Removing the axis 4 motor sub assembly Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 DANGER Make sure that the ball screw is supported with something The sudden drop of the ball screw due the lost of the axis 3 motor may ca...

Страница 469: ...ned off 1 Remove the bracket on the motor 2 xx2300000598 Remove the screws 3 Remove the adjusting block 4 Removing the pulley from axis 4 motor sub assembly Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 930 469 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repai...

Страница 470: ... sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000600 Remove the screws 2 Separate the gearhead and motor 3 Continues on next page 470 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 4 Replacing the axis 4 motor sub assembly Continued ...

Страница 471: ...rews 1 Tightening torque 2 8 Nm 3 xx2300000600 Refitting the pulley to the axis 4 motor sub assembly Note Action Screws Hex socket head cap flange screw 3HAB3412 435 M4x25 12 9 Lafre 2C2B FC6 9 PrO COat111 6 pcs Refit the pulley to the axis 4 motor sub assembly and secure with screws 1 Tightening torque 4 3 Nm 10 xx2300000599 Continues on next page Product manual IRB 930 471 3HAC086009 001 Revisio...

Страница 472: ...xx2300000598 Screws Hex socket head cap screw M3x5 12 9 Lafre 2C2B FC6 9 2 pcs Refit the bracket to the motor assembly 2 Tightening torque 1 2 Nm 10 Refitting the axis 4 motor sub assembly Note Action xx2300000597 Refit the motor with flange to the outer arm Tip Move the internal harness out of the way 1 Continues on next page 472 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB...

Страница 473: ...ion meter to measure the timing belt tension 4 New belt 88 4 92 7 Hz If the timing belt tension does not meet the require ment readjust the motor with the adjusting screw 5 Tightening torque 6 Nm 10 Tighten the motor screws when the timing belt meets the requirement 6 Refitting the cable ferrule and bracket in the outer arm Note Action Lay the internal harness in a natural state without distortion...

Страница 474: ...air hoses should face the process hub side 3 Tightening torque 2 4 Nm 10 xx2300000496 Tip The position with wrapped tape is the marked position for the cable ferrule Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Note The harness are not visib...

Страница 475: ...00492 Reconnect the connectors R2 MP4 R2 FB4 Tip See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 1 Route the cabling on the axis 4 motor CAUTION Correct cable routing is highly important If the cables are rou...

Страница 476: ...00000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling on the axis 3 motor CAUTION Correct cable routing is highly important If the cables are rout...

Страница 477: ...000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling behind the axis 2 motor CAUTION Correct cable routing is highly important If the cables are ro...

Страница 478: ...2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown in following steps 3 Tightening torque 2 4 Nm 10 For robots with protection class IP30 option 3350 300 xx2300000487 Remove the screw 4 Concluding procedure Note Action Cali...

Страница 479: ...t when performing the first test run See Test run after installation maintenance or repair on page 55 2 Product manual IRB 930 479 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 7 4 Replacing the axis 4 motor sub assembly Continued ...

Страница 480: ... that are listed in the table can be out of date See the latest spare parts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part Without tube bolt flange screw Gearbox NTS RV 27C 36 57 3HAC081648 001 Axis 1 gear unit sub assembly Continues on next page 480 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Rep...

Страница 481: ... use for calibrating the robot Reference calibration External cable packages DressPack and tools can stay fitted on the robot Fine calibration All external cable packages DressPack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration F...

Страница 482: ...t during the transporta tion always keep it straight If the robot lay down in any situation the grease may come out from gearbox 2 xx2300000486 Jog all axes to zero position 3 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 4 Draining oil of axis 1 gearbox Note Action WARNING Handling gearbox oil involves se...

Страница 483: ...quick coupling 4 xx2300000547 Remove the oil plugs and keep them opened to speed up the drainage 5 Plug a G3 8 quick coupling connector with pipe to the quick coupling on base 6 WARNING Used oil is hazardous material and must be disposed of in a safe way See Decom missioning on page 585 for more informa tion 7 Continues on next page Product manual IRB 930 483 3HAC086009 001 Revision A Copyright 20...

Страница 484: ... sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 Remove the screws locking the process hub 2 xx2300000487 Push the process hub to the outer arm 3 Removing the cover of the outer arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues ...

Страница 485: ...cabling if equipped Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Disconnect the air hoses from the L shaped con nectors 2 Continues on next page Product manual IRB 930 485 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gear unit sub assembly Continued ...

Страница 486: ...ctor clip has to be pressed 1 and pushed forward 2 to separate the R1 C2 for C2 cabling xx1800002943 xx2300000544 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 5 Continues on next page 486 Product manual IRB 930...

Страница 487: ...te The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 3 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 930 487 3HAC086009 001 Revisi...

Страница 488: ...rements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 4 motor Note Action xx2300000492 Disconnect the axis 4 motor connectors R2 MP4 R2 FB4 1 Continues on next page 488 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gear unit sub asse...

Страница 489: ... electrical power hydraulic pressure and air pressure are turned off 1 xx2300000543 Disconnect the connector R2 PB 2 xx2300000545 Snap loose and remove the female head of the connector from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Continues on next page Product man...

Страница 490: ...essure are turned off 1 xx2300000496 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 xx2300000497 Remove the screws on the bracket Note The harness are not visible due to the cleanness requi...

Страница 491: ...0000498 Removing the cable arm cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 Remove the cover 3 xx2300000499 Continues on next page Product manual IRB 930 491 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replac...

Страница 492: ... the base 3 Pull the SMB cover with the SMB unit assembly out together 4 xx2300000489 Disconnecting the SMB cabling Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 ELECTROSTATIC DISCHARGE ESD The unit is sensitive to ESD Before handling the unit read the safety information in section The unit is sensitive to ESD on page 46 2 ...

Страница 493: ...raulic pressure and air pressure are turned off 1 Remove the screws on the base to the ground 2 Lay down the robot 3 For rear outlet cable version For robot with rear outlet cable version remove the screws on the base plate 4 For robots with protection class IP30 option 3350 300 Remove the base plate 5 xx2300000500 Continues on next page Product manual IRB 930 493 3HAC086009 001 Revision A Copyrig...

Страница 494: ...upplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000502 Remove the grounding cable from the base by unscrew the screw 2 Disconnecting the connectors for axis 1 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 494 Product manual IRB 930 3HAC086009 001 Revision ...

Страница 495: ... electrical power hydraulic pressure and air pressure are turned off 1 xx2300000503 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 Remove the screws on the base bracket to the base from the...

Страница 496: ... the cable arm to release the cable 2 Removing the main harness from the cable arm position Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 496 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gear unit sub assembly Continued ...

Страница 497: ...nnecting For underneath outlet cable ver sion xx2300000612 Pull the main harness out of the cable arm from the inner arm 3 Removing the main harness from the axis 1 gearbox position Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 930 497 3HAC086009 001 Revision A Copyright 2023 ABB Al...

Страница 498: ...ble version Pull the main harness out of the inner arm from the sleeve of the axis 1 gearbox Tip Wrap the connectors with the masking tape 4 xx2300000507 For underneath outlet cable ver sion xx2300000612 Continues on next page 498 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gear unit sub assembly Continued ...

Страница 499: ...er sion For robot with underneath outlet cable version remove the screws on the main harness assembly 4 For robots with protection class IP30 option 3350 300 Remove the main harness assembly Note Remove the bottom plate from the main harness if needed 5 xx2300000609 Removing the oil tank Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are tur...

Страница 500: ...off 1 xx2300000513 Remove the screws on the protection tube to the inner arm 2 Remove the protection tube 3 Removing the base from inner arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 500 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacin...

Страница 501: ... Removing the axis 1 motor sub assembly Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000512 Remove the screws and washers 2 Remove the motor 3 Continues on next page Product manual IRB 930 501 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gear unit sub assembly C...

Страница 502: ...itting the axis 1 gear unit sub assembly Use these procedures to refit the axis 1 gear unit sub assembly Refitting the base to the axis 1 gear unit sub assembly Note Action Screws Hex socket head cap screw M6x65 12 9 Gleitmo 603 Geomet 500 11 pcs Refit the base to the axis 1 gearbox as the illustra tion 1 Refit the screws 2 Tightening torque 10 Nm 10 xx2300000515 Continues on next page 502 Product...

Страница 503: ...ration 2 Refit the screws 3 Washers Spring washer conical 9ADA334 7 18x4x2 Steel 8 pcs Tightening torque 25 Nm 3 xx2300000514 Refitting the axis 1 motor sub assembly Note Action Replace the o ring if needed 1 Put the timing belt into the pulley on the gear 2 Continues on next page Product manual IRB 930 503 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing t...

Страница 504: ...00000512 Refitting the protection tube Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 4 pcs Refit the protection tube 2 Secure the screws on the protection tube to the inner arm 3 Tightening torque 1 Nm xx2300000513 Continues on next page 504 Product manual IRB 930...

Страница 505: ...oil tank 2 Secure the screws on the oil tank to the inner arm 3 Tightening torque 2 4 Nm 3 xx2300000511 Inserting the main harness through the axis 1 gearbox position Note Action xx2300000486 Make sure that the robot is at zero position 1 Continues on next page Product manual IRB 930 505 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gear unit ...

Страница 506: ...ting the connectors for axis 1 motor Note Action xx2300000505 Insert the female head of the connectors to the bracket accordingly Tip The mistake proofing measure has been applied to the connectors the connectors may be dam aged if excessive force is used Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the ...

Страница 507: ...n a natural state without distortion 2 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 4 pcs Refit the cable ferrule to the bracket Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Tightening torque 2 4 Nm 10 xx2300000503 Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting ...

Страница 508: ...outing is highly important If the cables are routed and secured incorrectly the cables can be damaged 2 Refitting the SMB cover Note Action xx2100000945 Reconnect the connectors SMB P7 SMB J1 SMB J2 Tip Take photos of the connector and cable position before disconnecting them to have as a reference when reconnecting 1 Continues on next page 508 Product manual IRB 930 3HAC086009 001 Revision A Copy...

Страница 509: ... Note Action For rear outlet cable version For rear outlet cable version refit the main har ness to the base 1 For robots with protection class IP30 option 3350 300 Secure with the screws 2 Screws Hex socket head cap screw M3x30 12 9 Lafre 2C2B FC6 9 6 pcs Tightening torque 1 2 Nm 10 xx2300000509 Continues on next page Product manual IRB 930 509 3HAC086009 001 Revision A Copyright 2023 ABB All rig...

Страница 510: ...0 Screws Hex socket head cap screw M3x30 12 9 Lafre 2C2B FC6 9 8 pcs Tightening torque 1 2 Nm 10 Secure with the screws 4 xx2300000609 Refitting the base plate rear plate Note Action Apply grease to the internal harness cover all moving area of the harness 1 Continues on next page 510 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing t...

Страница 511: ...ss IP30 option 3350 300 xx2300000608 Refit the robot back to the ground 4 Screws Hex socket head cap screw M12x35 12 9 Gleitmo 603 Geomet 500 4 pcs Secure with the screws 5 Steel Washers 24 mm x 13 mm x 2 5 mm 4 pcs Tightening torque 56 Nm 10 Inserting the main harness through the inner arm position Note Action Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs x 2 Secure the cable...

Страница 512: ...nderneath outlet cable ver sion xx2300000610 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs Secure the bracket to the inner arm 3 Tightening torque 2 4 Nm 10 xx2300000508 Continues on next page 512 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gear unit sub assembly Continued ...

Страница 513: ...tape 1 xx2300000510 For underneath outlet cable ver sion xx2300000610 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 2 pcs Secure the bracket to the inner arm 2 Tightening torque 2 4 Nm 10 xx2300000506 Continues on next page Product manual IRB 930 513 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gear unit sub assembly Continued ...

Страница 514: ...e the cable ferrule to the bracket with the screws Tip The air hoses should face the process hub side 3 Tightening torque 2 4 Nm 10 xx2300000496 Tip The position with wrapped tape is the marked position for the cable ferrule Tip Align all the cable ferrules so that the cable is in a natural bending position to avoid twisting Tip Align all the cable ferrules so that the cable is in a natural bendin...

Страница 515: ...492 Reconnect the connectors R2 MP4 R2 FB4 Tip See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 1 Route the cabling on the axis 4 motor CAUTION Correct cable routing is highly important If the cables are route...

Страница 516: ...000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling on the axis 3 motor CAUTION Correct cable routing is highly important If the cables are routed...

Страница 517: ...0490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling behind the axis 2 motor CAUTION Correct cable routing is highly important If the cables are rout...

Страница 518: ...on the connectors for help to find the corresponding connector 2 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the cables are routed incorrectly the cables can be damaged 3 Reconnecting the air hoses CP CS cabling and Ethernet cabling if equipped Note Action Route the air hoses on the process hub behind the bracket CAUTION Correct cab...

Страница 519: ...ith the same number connect to the same L shaped connector 3 For robots with C2 cabling Reconnect the connector R1 C2 Tip See the number markings on the air hoses for help to find the corresponding air hoses The air hoses with the same number connect to the same L shaped connector 4 Secure the C2 cabling to the C2 bracket with the cable straps 5 Reconnect the air hoses in a cross pattern with the ...

Страница 520: ...ote Action Install a screw to the reserved hole on the process hub 1 Grip the screw to install the process hub 2 Screws Hex socket head cap screw M4x12 12 9 Lafre 2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown in follow...

Страница 521: ...ote Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 7 pcs Refit the cover 2 Refit the screws 3 Tightening torque 6 Nm 3 For robots with protection class IP30 option 3350 300 xx2300000499 Continues on next page Product manual IRB 930 521 3HAC086009 001 Revision A Copyrigh...

Страница 522: ...t can lead to internal over pressure inside the gearbox which in turn may damage seals and gaskets completely press out seals and gaskets prevent the robot from moving freely 4 Type of oil and total amount is detailed in Technical reference manual Lubrication in gearboxes Refill the gearbox with oil Note The amount of oil to be filled depends on the amount previously being drained 5 Tightening tor...

Страница 523: ... 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 55 2 Product manual IRB 930 523 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 1 Replacing the axis 1 gear unit sub assembly Continued ...

Страница 524: ...ts of the IRB 930 via myABB Business Portal www abb com myABB Note Article number Spare part Without tube bolt flange screw Gearbox NTS RV 25N 63 3HAC081649 001 Axis 2 gear unit sub assembly Required tools and equipment Note Article number Equipment Content is defined in section Standard toolkit on page 596 Standard toolkit Continues on next page 524 Product manual IRB 930 3HAC086009 001 Revision ...

Страница 525: ...libration All external cable packages DressPack and tools must be removed from the robot 1 Follow the instructions given in the refer ence calibration routine on the FlexPendant to create reference values If the robot is to be calibrated with refer ence calibration Find previous reference values for the axis or create new reference values These val ues are to be used after the repair proced ure is...

Страница 526: ...t during the transporta tion always keep it straight If the robot lay down in any situation the grease may come out from gearbox 2 xx2300000486 Jog all axes to zero position 3 DANGER Turn off all electric power supply hydraulic pressure supply air pressure supply to the robot before entering the safeguarded space 4 Draining oil of axis 2 gearbox Note Action WARNING Handling gearbox oil involves se...

Страница 527: ...lean pipe to the oil plug draining with the other end to the oil collecting ves sel 4 xx2300000549 Remove the oil plug draining 5 WARNING Used oil is hazardous material and must be disposed of in a safe way See Decom missioning on page 585 for more informa tion 6 Continues on next page Product manual IRB 930 527 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replac...

Страница 528: ...supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 Remove the screws locking the process hub 2 xx2300000487 Push the process hub to the outer arm 3 Removing the cover of the outer arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 52...

Страница 529: ...cabling if equipped Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Disconnect the air hoses from the L shaped con nectors 2 Continues on next page Product manual IRB 930 529 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 gear unit sub assembly Continued ...

Страница 530: ...ctor clip has to be pressed 1 and pushed forward 2 to separate the R1 C2 for C2 cabling xx1800002943 xx2300000544 Snap loose and remove the female head of the connectors from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 5 Continues on next page 530 Product manual IRB 930...

Страница 531: ...te The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 3 motor Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page Product manual IRB 930 531 3HAC086009 001 Revisi...

Страница 532: ...rements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Disconnecting the connectors for axis 4 motor Note Action xx2300000492 Disconnect the axis 4 motor connectors R2 MP4 R2 FB4 1 Continues on next page 532 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 gear unit sub asse...

Страница 533: ... electrical power hydraulic pressure and air pressure are turned off 1 xx2300000543 Disconnect the connector R2 PB 2 xx2300000545 Snap loose and remove the female head of the connector from the bracket Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 3 Continues on next page Product man...

Страница 534: ...essure are turned off 1 xx2300000496 Remove the screws on the bracket to the cable ferrule to release the cable ferrule with cable Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 2 xx2300000497 Remove the screws on the bracket Note The harness are not visible due to the cleanness requi...

Страница 535: ...0000498 Removing the cable arm cover Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 For robots with protection class IP30 option 3350 300 Remove the screws 2 Remove the cover 3 xx2300000499 Continues on next page Product manual IRB 930 535 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replac...

Страница 536: ... the cable arm to release the cable 2 Removing the main harness from the cable arm position Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 536 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 gear unit sub assembly Continued ...

Страница 537: ...0000612 Pull the main harness out of the cable arm from the inner arm 3 Removing the cable arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 xx2300000516 Remove the screws locking the cable arm to the outer arm 2 Remove the cable arm by pulling out from the in ner arm bearing 3 Continues on next page Product manual IRB 930 ...

Страница 538: ...00517 Remove the outer arm assembly slightly 3 xx2300000603 Remove the gear gasket on the axis 2 gear unit 4 Removing the axis 2 gear unit sub assembly from the outer arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Continues on next page 538 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights re...

Страница 539: ... motor and gearbox the gears may be damaged if excessive force is used 1 Screws Hex socket head cap screw M5x25 12 9 Lafre 2C2B FC6 9 16 pcs Refit the gear unit according to the location screws Tip When the gear unit is in the right position you can hear a clear Click 2 Tightening torque 7 Nm 3 For robots with protection class IP30 option 3350 300 xx2300000606 Refit the screws 3 Continues on next ...

Страница 540: ... Tightening torque 55 Nm Screws Hex socket head cap screw M6x20 12 9 Gleitmo 603 Geomet 500 3 pcs Tightening torque 10 Nm Refit the screws Note The two screw holes under the axis 2 belt location are left empty 4 xx2300000517 Refitting the cable arm Note Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Refit the cable arm to the inn...

Страница 541: ...FC6 9 2 pcs x 2 Secure the cable with the cable ferrule to the two brackets in inner arm 1 Tightening torque 2 4 Nm 10 For rear outlet cable version Insert the main harness into the cable arm through the inner arm Tip Wrap the connectors with the masking tape 2 xx2300000510 For underneath outlet cable ver sion xx2300000610 Continues on next page Product manual IRB 930 541 3HAC086009 001 Revision A...

Страница 542: ...arm Note Action For rear outlet cable version Insert the main harness into the outer arm through the cable arm Tip Wrap the connectors with the masking tape 1 xx2300000510 For underneath outlet cable ver sion xx2300000610 Continues on next page 542 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 gear unit sub assembly Cont...

Страница 543: ...crew M4x10 12 9 Lafre 2C2B FC6 9 4 pcs Refit the bracket Tip Do not secure it with the screws before the cable ferrule installed well 2 Tightening torque 2 4 Nm 10 xx2300000497 Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation Continues on next page Product manual IRB 930 543 3HAC086009 ...

Страница 544: ...ble due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation Reconnecting the connectors for axis 4 motor Note Action xx2300000495 Insert the female head of the connectors to the bracket accordingly Tip The mistake proofing measure has been applied to the connectors the connectors may be dam aged if excessive force is used Not...

Страница 545: ...the bracket accordingly Tip The mistake proofing measure has been applied to the connectors the connectors may be dam aged if excessive force is used Note The harness are not visible due to the cleanness requirements of the illustration They are still ex isting inside the cable ferrule in the actual situ ation 1 xx2300000491 Reconnect the connectors R2 MP3 R2 FB3 See the number markings on the con...

Страница 546: ...on They are still ex isting inside the cable ferrule in the actual situ ation 1 xx2300000490 Reconnect the connectors R2 MP2 R2 FB2 See the number markings on the connectors of the main harness for help to find the correspond ing connector DANGER Make sure that the correct connectors are matched before reconnecting the connectors Otherwise the robot motor may be broken 2 Route the cabling behind t...

Страница 547: ...on the connectors for help to find the corresponding connector 2 Route and secure the cabling with cable straps if needed CAUTION Correct cable routing is highly important If the cables are routed incorrectly the cables can be damaged 3 Reconnecting the air hoses CP CS cabling and Ethernet cabling if equipped Note Action Route the air hoses on the process hub behind the bracket CAUTION Correct cab...

Страница 548: ...ith the same number connect to the same L shaped connector 3 For robots with C2 cabling Reconnect the connector R1 C2 Tip See the number markings on the air hoses for help to find the corresponding air hoses The air hoses with the same number connect to the same L shaped connector 4 Secure the C2 cabling to the C2 bracket with the cable straps 5 Reconnect the air hoses in a cross pattern with the ...

Страница 549: ...ote Action Install a screw to the reserved hole on the process hub 1 Grip the screw to install the process hub 2 Screws Hex socket head cap screw M4x12 12 9 Lafre 2C2B FC6 9 4 pcs Secure the process hub to the outer arm cover with the screws CAUTION Be aware of the cabling that is attached to the cover The cover can not be removed completely until the connectors are disconnected as shown in follow...

Страница 550: ...ote Action DANGER Make sure that all supplies for electrical power hydraulic pressure and air pressure are turned off 1 Screws Hex socket head cap screw M4x10 12 9 Lafre 2C2B FC6 9 7 pcs Refit the cover 2 Refit the screws 3 Tightening torque 6 Nm 3 For robots with protection class IP30 option 3350 300 xx2300000499 Continues on next page 550 Product manual IRB 930 3HAC086009 001 Revision A Copyrigh...

Страница 551: ...ling of gearbox lubricant can lead to internal over pressure inside the gearbox which in turn may damage seals and gaskets completely press out seals and gaskets prevent the robot from moving freely 4 Type of oil and total amount is detailed in Technical reference manual Lubrication in gearboxes Refill the gearbox with oil Note The amount of oil to be filled depends on the amount previously being ...

Страница 552: ...ion is detailed in section Calibration on page 553 Recalibrate the robot 1 DANGER Make sure all safety requirements are met when performing the first test run See Test run after installation maintenance or repair on page 55 2 552 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 5 Repair 5 8 2 Replacing the axis 2 gear unit sub assembly Continued ...

Страница 553: ...A generic term for all calibration methods that aim to move the robot to calibration position Standard calibration A calibration routine that generates a new zero posi tion of the robot Fine calibration A calibration routine that in the first step generates a reference to current zero position of the robot The same calibration routine can later on be used to re calibrate the robot back to the same...

Страница 554: ...accuracy has the option information printed on its name plate OmniCore To regain 100 Absolute accuracy perform ance the robot must be recalibrated for abso lute accuracy after repair or maintenance that affects the mechanical structure Brief description of calibration methods Axis Calibration method Axis Calibration is a standard calibration method for calibration of IRB 930 It is the recommended ...

Страница 555: ...es after replacements that do not include taking apart the robot structure standard calibration is sufficient The Absolute Accuracy option varies according to the robot mounting position This is printed on the robot name plate for each robot The robot must be in the correct mounting position when it is recalibrated for absolute accuracy References Article numbers for the calibration tools are list...

Страница 556: ... counter memory is lost If the revolution counter memory is lost the counters must be updated See Updating revolution counters on page 560 This will occur when The battery is discharged A resolver error occurs The signal between a resolver and measurement board is interrupted A robot axis is moved with the control system disconnected The revolution counters must also be updated after the robot and...

Страница 557: ...xes Introduction This section shows the position of the synchronization marks and the synchronization position for each axis Continues on next page Product manual IRB 930 557 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 6 Calibration 6 2 1 Synchronization marks and synchronization position for axes ...

Страница 558: ... marks IRB 930 4 3 1 2 xx2300000573 558 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 6 Calibration 6 2 1 Synchronization marks and synchronization position for axes Continued ...

Страница 559: ...h in gears and so on Positive directions are shown in the graphic below Calibration service routines will handle the calibration movements automatically and these might be different from the positive directions shown below Manual movement directions xx2300000574 Product manual IRB 930 559 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 6 Calibration 6 2 2 Calibration movement dire...

Страница 560: ...ite i e axis 4 needs to be in synchronization position to update axis 3 IRB 930 Coupled axes x Axis 4 3 Step 1 Manually running the manipulator to the synchronization position Use this procedure to manually run the manipulator to the synchronization position Note Action Select axis by axis motion mode 1 See Synchronization marks and synchron ization position for axes on page 557 Jog the manipulato...

Страница 561: ... power up before the revolution counters are updated If axis 4 is rotated one or more turns from its calibration position before updating the revolution counter the correct calibration position will be lost due to non integer gear ratio This will further affect the calibration position of axis 3 Continues on next page Product manual IRB 930 561 3HAC086009 001 Revision A Copyright 2023 ABB All righ...

Страница 562: ...FlexPendant Note Revolution counters of axes 3 and 4 must be updated together Continues on next page 562 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 6 Calibration 6 3 1 Updating revolution counters on OmniCore robots Continued ...

Страница 563: ...t field calibration Tap Calibration Methods on the right pane 5 The calibration options are displayed Tap Revolution Counters 6 In the Selection column select the axes for which revolution counters need to be up dated 7 Tap Update A dialog box is displayed warning that the updating operation cannot be undone Tap Update to proceed with updating the revolution counters Tap Cancel to cancel updating ...

Страница 564: ...movable calibration tool is inserted by the operator into a calibration bushing on the axis chosen for calibration according to instructions on the FlexPendant WARNING Calibrating the robot with Axis Calibration requires special calibration tools from ABB Using other pins in the calibration bushings may cause severe damage to the robot and or personnel WARNING The calibration tool must be fully in...

Страница 565: ... technical data about the tool installed A benefit with reference calibration is that the current state of the robot is stored and not the state when the robot left the ABB factory The reference value will be named according to tool name date etc Follow the instructions given in the reference calibration routine on the FlexPendant to create reference values When reference calibration is performed ...

Страница 566: ...ogged to other position than 0 degrees Axis must be put in position 0 degrees 0 System containing SafeMove SafeMove will lose its synchronization to the controller if a new calibration is done New calibration values have to be downloaded to SafeMove and a new SafeMove calibration has to be done Make sure that the user rights admit to change the safety settings and to synchronize SafeMove 566 Produ...

Страница 567: ...hings may cause severe damage to the robot and or personnel Note Article number Equipment etc Delivered as a set of calibration tools Required if Axis Calibration is the valid calib ration method for the robot 3HAC074119 001 Calibration toolbox Ax is Calibration Examining the calibration tool Check prior to usage Before using the calibration tool make sure that the tube insert the plastic protecti...

Страница 568: ...ed solution Note Action It is possible to use any RFID solution with the correct dimensions ABB has verifed function on some suppliers fulfilling the requirements of NFC compatible devices 13 56 Mhz according to ISO 14443 or ISO 15693 Note The maximum dimensions on the RFID chip must not exceed Ø7 9 mm x 8 0 mm Ø5 9 mm x 8 0 mm or Ø3 9 mm x 8 0 mm depending on calibra tion tool size 1 There is a c...

Страница 569: ... pin the axis is equipped with two bushings instead for installation of two calibration tools when calibration is carried out This is shown in the figure xx2300000463 Spare parts When calibration is not being performed a protective cover and an o ring should always be installed on the fixed calibration pin as well as a protective plug included a sealing in the bushing Replace damaged parts with ne...

Страница 570: ...n procedure on the FlexPendant The actual instructions of how to perform the calibration procedure and what to do at each step is given on the FlexPendant You will be guided through the calibration procedure step by step Use the following list to learn about the calibration procedure before running the RobotWare program on the FlexPendant It gives you a brief overview of the calibration procedure ...

Страница 571: ...l affect the calibration value 2 Starting the calibration procedure Use this procedure to start the Axis Calibration routine on the FlexPendant Note Action Tap the calibration icon and enter the calibration main page 1 All mechanical units connected to the system are shown with their calibration status 2 Tap the mechanical unit in question Note For RobotWare 7 the mechanical unit page is displayed...

Страница 572: ...calibration tool is in contact the robot axis needs to be jogged in order to release the calibration tool Jogging the axis in wrong direction will cause the calibration tool to break Directions of axis movement is shown in Calibration movement directions for all axes on page 559 Axis Calibration with SafeMove option To be able to run Axis Calibration SafeMove needs to be unsynchronized The Axis Ca...

Страница 573: ...Protection cover and plug set 3HAC059487 001 xx1500000952 Reinstall the protective plug and sealing in the bushing on each axis directly after the axis has been calibrated Ensure that the sealing is not damaged Replace the plug and the sealing with new spare part if missing or damaged 3 Protective plug for bushing 3HAC053237 002 Product manual IRB 930 573 3HAC086009 001 Revision A Copyright 2023 A...

Страница 574: ...s suitable and accurate so it can be used to validate the repair Use a position where a deviation in axis calibration gives a big deviation in positioning Note Check the position after each repair in one axis 6 Use Reference calibration to save reference values for all axes that is to be replaced Make sure that the values are saved in RobotStudio or FTP program The files are located in Active syst...

Страница 575: ...s The requirement to do manual tuning is that there is a known accurate position that worked accurately before the repair step 5 see Brief introduction to Reference Calibration on page 574 Product manual IRB 930 575 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 6 Calibration 6 4 5 Reference calibration Continued ...

Страница 576: ...alibration position Calibration position The table below specifies the axis positions Axis 2 mm 3 0 4 576 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 6 Calibration 6 5 1 Calibration position ...

Страница 577: ... 1 and 2 of the IRB 930 are calibrated using the Axis Calibration method See Calibrating with Axis Calibration method on page 564 Product manual IRB 930 577 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 6 Calibration 6 5 2 Calibrating axis 1 and axis 2 ...

Страница 578: ...quipment Axes 3 and 4 are calibrated together The axis 3 calibration is done by moving the ball screw spline unit so that the upper surface of the lower mechanical stopper and the lower surface of the ball screw lower nut touch each other gently Continues on next page 578 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 6 Calibration 6 5 3 Calibrating axis 3 ...

Страница 579: ...robot before entering the robot working area 1 Remove the fitted extra equipment on the robot if it may cause a collision to the arm when push the ball screw to the calibration position 2 Turn on the electric power to the robot 3 DANGER When releasing the holding brakes the robot axes may move very quickly and sometimes in unex pected ways Make sure the payload is disassembled or tooling is proper...

Страница 580: ... activate the brakes again 7 Performing the fine calibration procedure Note Action On the start screen tap Calibrate 1 Select Calibration from the menu 2 The Mechanical Units page displays a list of available mechanical units Note This step is required only if you are not already in the Mechanical Unit page when you open Cal ibrate Note The Mechanical Unit page is displayed only if there are more ...

Страница 581: ...y displaying a dialog box announcing that the calibration pro cess has started The axis is calibrated and the system returns to the list of available mechanical units Tap OK 9 The fine calibration process is complete Checking and finalizing the calibration Note Action DANGER Always remember to remove the calibration tools from the robot before jogging axes to zero position during calibration 1 Rel...

Страница 582: ...alibration Note Action Write down the new system parameters on a new label and stick on top of the calibration label on the robot 1 Note The calibration status of axis 3 may be changed to Not updated after a system reinstallation or warm restart In this case update the revolution counters for axis 3 and axis 4 axis 4 is coupled with axis 3 See Updating revolution counters on page 560 582 Product m...

Страница 583: ...position program twice Do not change the position of the robot axes after running the program 1 This is detailed in section Synchronization marks and synchronization position for axes on page 557 Adjust the synchronization marks when the calibration is done if necessary 2 Write down the values on a new label and stick it on top of the calibration label 3 The label is located on the base Product ma...

Страница 584: ...orrectly If they do not update the revolu tion counters 6 Using the jogging window Use this procedure to jog the robot to the synchronization position of all axes Note Action Tap Jog 1 From the Mechanical unit list select a mechanical unit 2 From the Motion mode section select an axis set that need to be jogged 3 For example to jog axis 2 select the axis set Axis 1 3 Follow the screen instruction ...

Страница 585: ...try in which the robot and the control unit are installed If the robot or the control unit is partially or completely disposed of the various parts must be grouped together according to their nature which is all iron together and all plastic together and disposed of accordingly These parts must also be disposed of in accordance with the current legislation of the country in which the robot and con...

Страница 586: ...ecifies some of the materials in the product and their respective use throughout the product Dispose components properly according to local regulations to prevent health or environmental hazards Example application Material Aluminium Serial measurement board Batteries Lithium Calibration protection cap and plug and couplings connectors and nuts in cable harness Brass zink alloys Cast iron nodular ...

Страница 587: ...rains or onto soil Incineration must be carried out under controlled conditions in accordance with local regulations Also note that Spills can form a film on water surfaces causing damage to organisms Oxygen transfer could also be impaired Spillage can penetrate the soil causing ground water contamination Product manual IRB 930 587 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 7...

Страница 588: ...orch it will explode Always remove all oil grease in gearboxes If exposed to heat for example from a blow torch the oil grease will catch fire When motors are removed from the robot the robot will collapse if it is not properly supported before the motor is removed A used robot does not have the same performance as on delivery Springs brakes bearings and other parts might be worn or broken 588 Pro...

Страница 589: ...chapter includes general information complementing the more specific information in the different procedures in the manual Product manual IRB 930 589 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 8 Reference information 8 1 Introduction ...

Страница 590: ...ral requirements normative reference from ISO 10218 1 IEC 60204 1 Electromagnetic compatibility EMC Part 6 2 Generic standards Immunity standard for industrial environments IEC 61000 6 2 Electromagnetic compatibility EMC Part 6 4 Generic standards Emission standard for industrial environments IEC 61000 6 4 Safety of machinery Safety related parts of control systems Part 1 General principles for de...

Страница 591: ...ty 39 37 in 3 28 ft 1 m Length 2 21 lb 1 kg Weight 0 035 ounces 1 g Weight 14 5 psi 100 kPa 1 bar Pressure 0 225 lbf 1 N Force 0 738 lbf ft 1 Nm Moment 0 264 US gal 1 L Volume Product manual IRB 930 591 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 8 Reference information 8 3 Unit conversion ...

Страница 592: ...en handling screws treated with Gleitmo protective gloves of nitrile rubber type should be used Generally screws are lubricated with Gleitmo 603 mixed with Geomet 500 or Geomet 702 in proportion 1 3 Geomet thickness varies according to screw dimensions refer to the following Geomet thickness Lubricant Dimension 3 5 μm Gleitmo 603 Geomet 500 M6 M20 any length except M20x60 3 5 μm Gleitmo 603 Geomet...

Страница 593: ...ghtening torque for oil lubricated screws with slotted or cross recess head screws The following table specifies the recommended standard tightening torque for oil lubricated screws with slotted or cross recess head screws Note A special torque specified in the repair maintenance or installation procedure overrides the standard torque Tightening torque for oil lubricated screws with allen head scr...

Страница 594: ...with Molycote 1000 Gleitmo 603 or equivalent with allen head screws Note A special torque specified in the repair maintenance or installation procedure overrides the standard torque Tightening torque Nm Class 12 9 lubricated i Tightening torque Nm Class 10 9 lubricated i Dimension 8 M5 14 M6 35 28 M8 70 55 M10 120 96 M12 300 235 M16 550 460 M20 950 790 M24 i Lubricated with Molycote 1000 Gleitmo 6...

Страница 595: ...accessory when handling components with a weight exceeding 22 kg A wide range of lifting accessories and devices are available for each manipulator model Example Following is an example of a weight specification in a procedure Note Action CAUTION The arm weighs 25 kg All lifting accessories used must be sized accord ingly Product manual IRB 930 595 3HAC086009 001 Revision A Copyright 2023 ABB All ...

Страница 596: ...toolkit Rem Tool Qty Ring open end spanner 8 19 mm 1 Socket head cap 2 5 17 mm 1 Torx socket no 20 60 1 Box spanner set 1 Torque wrench 10 100 Nm 1 Torque wrench 75 400 Nm 1 Ratchet head for torque wrench 1 2 1 Hexagon headed screw M10x100 2 Hexagon headed screw M16x90 1 Hex bit socket head cap no 14 socket 40 mm L 100 mm 1 To be shortened to 12 mm Hex bit socket head cap no 14 socket 40 mm L 20 m...

Страница 597: ...part number These tools can be ordered from ABB 24 VDC power supply Calibration toolbox Axis Calibration 3HAC074119 001 Delivered as a set of calibration tools Required if Axis Calibration is the valid calibration method for the robot Sonic tension meter Used for measuring the timing belt tension Dynamometer Used for measuring the timing belt tension IRB 930 auxiliary shaft 3HAC087847 001 Used to ...

Страница 598: ...piece of lifting accessories is not detailed in the activity procedure but in the instruction delivered with each piece of lifting accessories The instructions delivered with the lifting accessories should be stored for later reference 598 Product manual IRB 930 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 8 Reference information 8 8 Lifting accessories and lifting instructions...

Страница 599: ...al but delivered as a separate document for registered users on myABB Business Portal www abb com myABB Tip All documents can be found via myABB Business Portal www abb com myABB Product manual IRB 930 599 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved 9 Spare parts 9 1 Spare part lists and illustrations ...

Страница 600: ...This page is intentionally left blank ...

Страница 601: ...il axis 1 101 axis 2 106 circuit boards disposal 586 cleaning 98 climbing on robot 30 Cold environments 76 connecting the robot and controller cabling 71 copper disposal 586 D dimensions robot 64 direction of axes 559 E environmental information 586 equipment robot 64 ESD damage elimination 46 sensitive equipment 46 expected life 84 extra equipment 64 F fire extinguishing 27 fitting equipment 64 F...

Страница 602: ...top axis 1 68 xx 49 119 129 171 277 283 295 308 340 report replacements 111 requirements on foundation 40 responsibility and validity 15 revolution counters storing on FlexPendant 562 updating 560 risk of burns 30 robot dimensions 64 equipment fitting 64 labels 19 protection class 41 protection types 41 symbols 19 technical data 38 working range 43 robot cabling inspecting 86 rubber disposal 586 S...

Страница 603: ...ng 586 updating revolution counters 560 users requirements 16 V validity and responsibility 15 velocity adjusting 76 verifying calibration 583 W weight 38 robot 57 working range robot 43 X xx replacing 49 119 129 171 277 283 295 308 340 Z zero position checking 584 Product manual IRB 930 603 3HAC086009 001 Revision A Copyright 2023 ABB All rights reserved Index ...

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Страница 606: ... 47 22 87 2000 ABB Engineering Shanghai Ltd Robotics Discrete Automation No 4528 Kangxin Highway PuDong New District SHANGHAI 201319 China Telephone 86 21 6105 6666 ABB Inc Robotics Discrete Automation 1250 Brown Road Auburn Hills MI 48326 USA Telephone 1 248 391 9000 abb com robotics 3HAC086009 001 Rev A en Copyright 2023 ABB All rights reserved Specifications subject to change without notice ...

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